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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@270: -------------------------------------------------------------------------------
fp@270: 
fp@270: General Features:
fp@270: 
fp@270: * Runs as kernel module for Linux 2.6.
fp@270: 
fp@270: * Comes with EtherCAT-capable network driver for RTL8139 and compatible
fp@270:   network interface cards.
fp@270:   - Interrupt-less network driver operation.
fp@270:   - Easy implementation of additional network drivers through common device
fp@270:     interface of the master.
fp@270:   - Runs even with PCMCIA cards.
fp@270: 
fp@270: * Supports multiple EtherCAT masters on one machine.
fp@270: 
fp@270: * Supports any realtime extension through independent architecture.
fp@270:   - RTAI, IPIPE, ADEOS, etc.
fp@1739:   - Runs well even without realtime extension.
fp@270: 
fp@1739: * Common kernel interface for realtime modules using EtherCAT functionality.
fp@1739:   - Synchronous transmission and reception of EtherCAT frames.
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@270: 
fp@270: * Master finite state machine (FSM). Thus:
fp@270:   - Bus monitoring during realtime operation.
fp@270:   - Automatic reconfiguration of slaves on bus power failure during realtime
fp@270:     operation.
fp@270:   - Controlling of slave states during realtime operation.
fp@270: 
fp@1739: * Special IDLE mode, when master is not in use.
fp@270:   - Automatic scanning of slaves upon topology changes.
fp@270:   - Bus visualisation and EoE processing without realtime process connected.
fp@270: 
fp@1739: * Implementation of the CANopen-over-EtherCAT (CoE) protocol.
fp@270:   - Configuration of CoE-capable slaves via SDO interface.
fp@270:   - SDO dictionary listing.
fp@270: 
fp@1739: * Implementation of the Ethernet-over-EtherCAT (EoE) protocol.
fp@270:   - Creates virtual network devices that are automatically coupled to
fp@270:     EoE-capable	slaves.
fp@270:   - Thus natively supports either a switched or a routed EoE network
fp@1739:     architecture with standard GNU/Linux tools.
fp@270: 
fp@1739: * User space interface via the system filesystem (Sysfs).
fp@1739:   - Detailed information about master and slaves in a tree structure.
fp@1739:   - User space tool 'lsec' for quick bus visualisation.
fp@1739:   - Slave EEPROM image reading and writing.
fp@270: 
fp@1739: * Seamless integration in your favourite GNU/Linux distibution.
fp@270:   - Master and network device configuration via sysconfig files.
fp@1739:   - "Linux standard base"-compatible init script for master control.
fp@270: 
fp@270: * Virtual read-only network interface for debugging purposes and for
fp@1739:   monitoring the EtherCAT traffic (through Wireshark, or others).
fp@270: 
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