9 Version 1.4.0: |
9 Version 1.4.0: |
10 |
10 |
11 * Realtime interface changes: |
11 * Realtime interface changes: |
12 - PDO configuration. |
12 - PDO configuration. |
13 - SDO access. |
13 - SDO access. |
14 - Replace process data pointers with offset. |
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15 - External memory for domains. |
14 - External memory for domains. |
16 - Separate slave configuration from slave structure. |
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17 * Mailbox handler |
15 * Mailbox handler |
18 * Read PDO mapping via CoE during bus scan. |
16 * Read PDO mapping via CoE during bus scan. |
19 * SDO write access in sysfs. |
17 * SDO write access in sysfs. |
20 * Remove get_cycles() calls and references to cpu_khz to increase |
18 * Remove get_cycles() calls and references to cpu_khz to increase |
21 portability. |
19 portability. |
22 * Remove ecdb.h and let lsec output PDO information 'cut-and-pastable' for |
20 * Remove ecdb.h and let lsec output PDO information 'cut-and-pastable' for |
23 applications. |
21 applications. |
24 * Update documentation. |
22 * Update documentation. |
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23 * READMEs for examples. |
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24 * Calculate expected working counter for domains. |
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25 * Distributed clocks. |
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26 * Support slaves, that don't support the LRW datagram, only LRD/LWR. |
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27 * Implement all EtherCAT datagram types. |
25 |
28 |
26 Future issues: |
29 Future issues: |
27 |
30 |
28 * Move slave handlers and state machines, etc. into a user space daemon. |
31 * Move slave handlers and state machines, etc. into a user space daemon. |
29 - Step 1: Replace Sysfs interface with cdev and a user space program |
32 - Step 1: Replace Sysfs interface with cdev and a user space program |
30 to replace lsec. |
33 to replace lsec. |
31 - Step 2: Move kernel threads to user space daemon with a TCP interface |
34 - Step 2: Move kernel threads to user space daemon with a TCP interface |
32 replacing the cdev. |
35 replacing the cdev. |
33 * Distributed clocks. |
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34 * Redundancy with 2 network adapters. |
36 * Redundancy with 2 network adapters. |
35 * Support slaves, that don't support the LRW datagram, only LRD/LWR. |
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36 * PDO reading in IDLE mode. |
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37 * Interface/buffers for asynchronous domain IO. |
37 * Interface/buffers for asynchronous domain IO. |
38 |
38 |
39 Smaller issues: |
39 Smaller issues: |
40 |
40 |
41 * Datagram debugging flag. |
41 * Datagram debugging flag. |
42 * Clear sync managers in INIT. |
42 * Clear sync managers in INIT. |
43 * Simplify FSMs with <state>_enter() functions. |
43 * Simplify FSMs with <state>_enter() functions. |
44 * Read out CRC counters. |
44 * Read out CRC counters. |
45 * Calculate expected working counter for domains. |
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46 * Optimize alignment of process data. |
45 * Optimize alignment of process data. |
47 * Evaluate EEPROM contents after writing. |
46 * Evaluate EEPROM contents after writing. |
48 * Configure slave ports to automatically open on link detection. |
47 * Configure slave ports to automatically open on link detection. |
49 * Calculate cycle time of operation state machine. |
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50 * Locking for serveral slave variables for sysfs access. |
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51 * Interrupt master state machines state scan for other jobs. |
48 * Interrupt master state machines state scan for other jobs. |
52 * Master state machine, slave configuration: Do not check every slave on |
49 * Master state machine, slave configuration: Do not check every slave on |
53 a cycle. |
50 a cycle. |
54 * Only execute one EoE handler per EoE cycle. |
51 * Only execute one EoE handler per EoE cycle. |
55 |
52 |
56 Less important issues: |
53 Less important issues: |
57 |
54 |
58 * Implement all EtherCAT datagram types. |
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59 * File access over EtherCAT (FoE). |
55 * File access over EtherCAT (FoE). |
60 * Allow VLAN tagging. |
56 * Allow VLAN tagging. |
61 * Determine number of frames, the NIC can handle. |
57 * Determine number of frames, the NIC can handle. |
62 |
58 |
63 ------------------------------------------------------------------------------- |
59 ------------------------------------------------------------------------------- |