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fp@270: 
fp@270: This is the FEATURES file of the IgH EtherCAT Master.
fp@270: 
fp@270: $Id$
fp@270: 
fp@1319: vim: spelllang=en spell
fp@1319: 
fp@270: -------------------------------------------------------------------------------
fp@270: 
fp@270: General Features:
fp@270: 
fp@1319: * EtherCAT master implementation conforming to IEC/PAS 62407.
fp@1319:   - Runs as kernel module for Linux 2.6.
fp@1319:   - Multiple masters possible on one machine.
fp@270: 
fp@1319: * EtherCAT-capable versions of standard Linux drivers for wide-spread
fp@1319:   Ethernet devices.
fp@1319:   - Interrupt-less operation of Ethernet devices.
fp@1319:   - Easy implementation of additional Ethernet drivers through common device
fp@270:     interface of the master.
fp@1319:   - Operation possible with any device supported by the standard drivers,
fp@1319:     including PCMCIA devices.
fp@270: 
fp@1319: * Supports any realtime environment through independent architecture.
fp@1319:   - RTAI, Xenomai, RT-Preempt, etc.
fp@1319:   - Operation possible even without any realtime extension.
fp@270: 
fp@1319: * Common API for Realtime-Applications in kernel- and userspace.
fp@1319:   - Requesting and releasing masters.
fp@1319:   - Dynamic slave configuration, even for slaves that are offline.
fp@1319:   - Detailed configuration of the slaves' Pdos and Sdos.
fp@1319:   - Creation of process data domains (see below). Registration of Pdo entries
fp@1319:     for exchange within a domain.
fp@1319:   - Monitoring the states of masters, slave configurations and domains.
fp@1319:   - Sdo handlers for application-triggered CoE transfers (see below).
fp@1319:   - VoE handlers for Vendor-specific mailbox protocols (see below).
fp@1319:   - Similar userspace implementation of the kernel API via a C-library.
fp@270:   - Avoidance of unnecessary copy operations for process data.
fp@270: 
fp@270: * Separating slave groups through domains.
fp@270:   - Handling of multiple slave groups with different sampling rates.
fp@270:   - Automatic calculation of process data mapping, FMMU- and sync manager
fp@270:     configuration within the domains.
fp@1319:   - Process data exchange can be monitored via a per-domain mechanism.
fp@270: 
fp@1083: * Master finite state machine (FSM).
fp@1319:   - The same state machine runs when the master is idle and also when an
fp@1319:     application is connected.
fp@1319:   - Bus monitoring. Slave states are read cyclically. Automatic scanning of the
fp@1319:     bus on a topology change.
fp@1319:   - Automatic configuration of slaves, if a application-layer state change is
fp@1319:     requested.
fp@270: 
fp@555: * Implementation of the CANopen-over-EtherCAT (CoE) protocol.
fp@1319:   - Configuration of CoE-capable slaves.
fp@1083:   - Sdo information service (dictionary listing).
fp@1319:   - Sdo transfers via the application interface and the command-line tool.
fp@270: 
fp@555: * Implementation of the Ethernet-over-EtherCAT (EoE) protocol.
fp@1319:   - Creates a virtual network interface for any EoE-capable	slave.
fp@1319:   - Natively supports either a switched or a routed EoE network
fp@1319:     architecture.
fp@270: 
fp@1319: * Userspace command-line tool 'ethercat'.
fp@1319:   - Detailed information about master, slaves, domains and bus configuration.
fp@1319:   - Reading/Writing alias addresses.
fp@1319:   - Listing slave configurations.
fp@1319:   - Viewing process data.
fp@1319:   - Sdo download/upload; listing Sdo dictionaries.
fp@1319:   - Access to slave registers.
fp@1319:   - Slave SII (EEPROM) access.
fp@1319:   - Requesting application-layer states.
fp@1319:   - Generation of slave description XML from existing slaves.
fp@270: 
fp@1319: * Seamless integration in any GNU/Linux distribution.
fp@1319:   - Master and Ethernet device configuration via sysconfig file.
fp@555:   - "Linux standard base"-compatible init script for master control.
fp@270: 
fp@1319: * Virtual read-only network interface for debugging and traffic monitoring
fp@1319:   purposes (using Wireshark, etc.). No additional hardware necessary.
fp@270: 
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