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fp@1621: 
fp@1621: This is the FEATURES file of the IgH EtherCAT Master.
fp@1621: 
fp@1621: $Id$
fp@1621: 
fp@1621: -------------------------------------------------------------------------------
fp@1621: 
fp@1621: General Features:
fp@1621: 
fp@1621: * Runs as kernel module for Linux 2.6.
fp@1621: 
fp@1621: * Comes with EtherCAT-capable network driver for RTL8139 and compatible
fp@1621:   network interface cards.
fp@1621:   - Interrupt-less network driver operation.
fp@1621:   - Easy implementation of additional network drivers through common device
fp@1621:     interface of the master.
fp@1621:   - Runs even with PCMCIA cards.
fp@1621: 
fp@1621: * Supports multiple EtherCAT masters on one machine.
fp@1621: 
fp@1621: * Supports any realtime extension through independent architecture.
fp@1621:   - RTAI, IPIPE, ADEOS, etc.
fp@1621:   - Runs well even without realtime extensions.
fp@1621: 
fp@1621: * Common kernel interface, for realtime modules using EtherCAT functionality.
fp@1621:   - Synchronous and asynchronous sending and receiving of frames.
fp@1621:   - Avoidance of unnecessary copy operations for process data.
fp@1621: 
fp@1621: * Separating slave groups through domains.
fp@1621:   - Handling of multiple slave groups with different sampling rates.
fp@1621:   - Automatic calculation of process data mapping, FMMU- and sync manager
fp@1621:     configuration within the domains.
fp@1621: 
fp@1621: * Master finite state machine (FSM). Thus:
fp@1621:   - Bus monitoring during realtime operation.
fp@1621:   - Automatic reconfiguration of slaves on bus power failure during realtime
fp@1621:     operation.
fp@1621:   - Controlling of slave states during realtime operation.
fp@1621: 
fp@1624: * Special Idle mode, when master is not in use.
fp@1621:   - Automatic scanning of slaves upon topology changes.
fp@1621:   - Bus visualisation and EoE processing without realtime process connected.
fp@1621: 
fp@1621: * Implements the CANopen-over-EtherCAT (CoE) protocol.
fp@1621:   - Configuration of CoE-capable slaves via SDO interface.
fp@1621:   - SDO dictionary listing.
fp@1621: 
fp@1621: * Implements the Ethernet-over-EtherCAT (EoE) protocol.
fp@1621:   - Creates virtual network devices that are automatically coupled to
fp@1621:     EoE-capable	slaves.
fp@1621:   - Thus natively supports either a switched or a routed EoE network
fp@1621:     architecture.
fp@1621: 
fp@1621: * User space interface via the System Filesystem (SysFS).
fp@1621:   - User space tool for bus visualisation.
fp@1621:   - Slave E²PROM image reading and writing.
fp@1621: 
fp@1621: * Seamless integration in your favourite Linux distibution.
fp@1621:   - Master and network device configuration via sysconfig files.
fp@1621:   - UnitedLinux compatible init script for master control.
fp@1621: 
fp@1621: * Virtual read-only network interface for debugging purposes and for
fp@1621:   "sniffing" the EtherCAT traffic (through Ethereal, or others).
fp@1621: 
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