5 ------------------------------------------------------------------------------- |
5 ------------------------------------------------------------------------------- |
6 |
6 |
7 Changes in version 1.4.0: |
7 Changes in version 1.4.0: |
8 |
8 |
9 * Realtime interface changes: |
9 * Realtime interface changes: |
10 - Replaced ec_slave_t with ec_slave_config_t, separating the slave objects |
10 - Replaced ec_slave_t with ec_slave_config_t, separating the bus |
11 from the requested bus configuration. Therefore, renamed |
11 configuration from the actual slaves. Therefore, renamed |
12 ecrt_master_get_slave() to ecrt_master_slave_config(). |
12 ecrt_master_get_slave() to ecrt_master_slave_config(). |
13 - Replaced slave address string with alias and position values. See |
13 - Replaced slave address string with alias and position values. See |
14 ecrt_master_slave_config(). |
14 ecrt_master_slave_config(). |
15 - Removed ecrt_master_get_slave_by_pos(), because it is no longer |
15 - Removed ecrt_master_get_slave_by_pos(), because it is no longer |
16 necessary due to alias/position addressing. |
16 necessary due to alias/position addressing. |
18 ecrt_slave_config_state(). |
18 ecrt_slave_config_state(). |
19 - Process data memory for a domain can now be allocated externally. This |
19 - Process data memory for a domain can now be allocated externally. This |
20 offers the possibility to use a shared-memory region. Therefore, |
20 offers the possibility to use a shared-memory region. Therefore, |
21 added the domain methods ecrt_domain_size() and |
21 added the domain methods ecrt_domain_size() and |
22 ecrt_domain_external_memory(). |
22 ecrt_domain_external_memory(). |
23 - Replaced the process data pointers in the Pdo entry registration |
23 - Pdo entry registration functions do not return a process data pointer, |
24 functions with a process data offset, that is now returned by |
24 but an offset in the domain's process data. In addition, an optional bit |
25 ecrt_slave_config_reg_pdo_entry(). This was necessary for the external |
25 position can be requested. This was necessary for the external domain |
26 domain memory. An additional advantage is, that the returned offset value |
26 memory. An additional advantage is, that the returned offset is |
27 is directly usable. If the domain's process data is allocated internally, |
27 immediately valid. If the domain's process data is allocated internally, |
28 the start address can be retrieved with ecrt_domain_data(). |
28 the start address can be retrieved with ecrt_domain_data(). |
29 - Replaced ecrt_slave_pdo_mapping/add/clear() with |
29 - Replaced ecrt_slave_pdo_mapping/add/clear() with |
30 ecrt_slave_config_pdo() to add a Pdo to the mapping and |
30 ecrt_slave_config_pdo_assign_add() to add a Pdo to a sync manager's Pdo |
31 ecrt_slave_config_pdo_entry() to add a Pdo entry to a Pdo configuration. |
31 assignment and ecrt_slave_config_pdo_mapping_add() to add a Pdo entry to a |
32 ecrt_slave_config_mapping() is a convenience function for |
32 Pdo's mapping. ecrt_slave_config_pdos() is a convenience function |
33 both, that uses the new data types ec_pdo_info_t and ec_pdo_entry_info_t. |
33 for both, that uses the new data types ec_pdo_info_t and |
34 Mapped Pdo entries can now immediately be registered. |
34 ec_pdo_entry_info_t. Pdo entries, that are mapped with these functions |
|
35 can now immediately be registered, even if the bus is offline. |
35 - Renamed ec_bus_status_t, ec_master_status_t to ec_bus_state_t and |
36 - Renamed ec_bus_status_t, ec_master_status_t to ec_bus_state_t and |
36 ec_master_state_t, respectively. Renamed ecrt_master_get_status() to |
37 ec_master_state_t, respectively. Renamed ecrt_master_get_status() to |
37 ecrt_master_state(), for consistency reasons. |
38 ecrt_master_state(), for consistency reasons. |
38 - Added ec_domain_state_t and ec_wc_state_t for a new output parameter |
39 - Added ec_domain_state_t and ec_wc_state_t for a new output parameter |
39 of ecrt_domain_state(). The domain state object does now contain |
40 of ecrt_domain_state(). The domain state object does now contain |
40 information, if the process data was exchanged completely. |
41 information, if the process data was exchanged completely. |
41 - Former "Pdo registration" meant Pdo entry registration in fact, therefore |
42 - Former "Pdo registration" meant Pdo entry registration in fact, therefore |
42 renamed ec_pdo_reg_t to ec_pdo_entry_reg_t and ecrt_domain_register_pdo() |
43 renamed ec_pdo_reg_t to ec_pdo_entry_reg_t and ecrt_domain_register_pdo() |
43 to ecrt_slave_config_reg_pdo_entry(). |
44 to ecrt_slave_config_reg_pdo_entry(). |
44 - Removed ecrt_domain_register_pdo_range(), because it's functionality can |
45 - Removed ecrt_domain_register_pdo_range(), because it's functionality can |
45 be reached by specifying an explicit Pdo mapping and registering those |
46 be reached by specifying an explicit Pdo assignment/mapping and |
46 Pdo entries. |
47 registering the mapped Pdo entries. |
47 - Added an Sdo access interface, working with Sdo requests. These can be |
48 - Added an Sdo access interface, working with Sdo requests. These can be |
48 scheduled for reading and writing during realtime operation. |
49 scheduled for reading and writing during realtime operation. |
49 - Exported ecrt_slave_config_sdo(), the generic Sdo configuration |
50 - Exported ecrt_slave_config_sdo(), the generic Sdo configuration function. |
50 function. |
|
51 - Removed the bus_state and bus_tainted flags from ec_master_state_t. |
51 - Removed the bus_state and bus_tainted flags from ec_master_state_t. |
52 * Device interface changes: |
52 * Device interface changes: |
53 - Moved device output parameter of ecdev_offer() to return value. |
53 - Moved device output parameter of ecdev_offer() to return value. |
54 * Replaces the Sysfs interface with a new 'ethercat' command-line tool. See |
54 * Replaced the Sysfs interface with a new 'ethercat' command-line tool. See |
55 'ethercat --help'. |
55 'ethercat --help'. The tool is able to |
|
56 - Write alias addresses. |
|
57 - Show the bus configuration. |
|
58 - Output binary domain process data. |
|
59 - Set the master's debug level. |
|
60 - Show domain information. |
|
61 - Show master information. |
|
62 - List Pdo assignment/mapping. |
|
63 - Write an Sdo entry. |
|
64 - List Sdo dictionaries. |
|
65 - Read an Sdo entry. |
|
66 - Output a slave's SII contents. |
|
67 - Write slave's SII contents. |
|
68 - Show slaves. |
|
69 - Request slave states. |
|
70 - Generate slave information xmls. |
56 * Removed include/ecdb.h. |
71 * Removed include/ecdb.h. |
57 * Sdo dictionaries will now also be fetched in operation mode. |
72 * Sdo dictionaries will now also be fetched in operation mode. |
58 * SII write requests will now also be processed in operation mode. |
73 * SII write requests will now also be processed in operation mode. |
59 * Mapping of Pdo entries is now supported. |
74 * Mapping of Pdo entries is now supported. |
60 * Current Pdo assignment/mapping is now read via CoE during bus scan, using |
75 * Current Pdo assignment/mapping is now read via CoE during bus scan, using |