Merge
authorDominik Staubli <ch1010252@ch10pc423>
Thu, 21 Jan 2010 11:10:22 +0100
changeset 1799 f228415225b7
parent 1798 e7733f825982 (current diff)
parent 1777 a93fc03eeb06 (diff)
child 1800 5bfbb7be5400
child 1801 31af610f1639
Merge
documentation/images/architecture.fig
--- a/.hgignore	Thu Jan 21 11:09:31 2010 +0100
+++ b/.hgignore	Thu Jan 21 11:10:22 2010 +0100
@@ -32,6 +32,48 @@
 devices/e1000/Makefile
 devices/e1000/Makefile.in
 devices/modules.order
+documentation/ethercat_doc.aux
+documentation/ethercat_doc.idx
+documentation/ethercat_doc.lof
+documentation/ethercat_doc.log
+documentation/ethercat_doc.lot
+documentation/ethercat_doc.nlo
+documentation/ethercat_doc.out
+documentation/ethercat_doc.pdf
+documentation/ethercat_doc.toc
+documentation/external
+documentation/graphs/fsm_change.pdf
+documentation/graphs/fsm_change.ps
+documentation/graphs/fsm_eoe.pdf
+documentation/graphs/fsm_eoe.ps
+documentation/graphs/fsm_master.pdf
+documentation/graphs/fsm_master.ps
+documentation/graphs/fsm_pdo_conf.pdf
+documentation/graphs/fsm_pdo_conf.ps
+documentation/graphs/fsm_pdo_entry_conf.pdf
+documentation/graphs/fsm_pdo_entry_conf.ps
+documentation/graphs/fsm_pdo_entry_read.pdf
+documentation/graphs/fsm_pdo_entry_read.ps
+documentation/graphs/fsm_pdo_read.pdf
+documentation/graphs/fsm_pdo_read.ps
+documentation/graphs/fsm_sii.pdf
+documentation/graphs/fsm_sii.ps
+documentation/graphs/fsm_slave_conf.pdf
+documentation/graphs/fsm_slave_conf.ps
+documentation/graphs/fsm_slave_scan.pdf
+documentation/graphs/fsm_slave_scan.ps
+documentation/images/app-config.pdf
+documentation/images/architecture.pdf
+documentation/images/attach.pdf
+documentation/images/dc.pdf
+documentation/images/fmmus.pdf
+documentation/images/fsm-coedown.pdf
+documentation/images/fsm-eoe.pdf
+documentation/images/interrupt.pdf
+documentation/images/master-locks.pdf
+documentation/images/masters.pdf
+documentation/images/phases.pdf
+documentation/images/statetrans.pdf
 examples/Kbuild
 examples/Makefile
 examples/Makefile.in
--- a/FEATURES	Thu Jan 21 11:09:31 2010 +0100
+++ b/FEATURES	Thu Jan 21 11:10:22 2010 +0100
@@ -14,13 +14,16 @@
   - Runs as kernel module for Linux 2.6.
   - Multiple masters possible on one machine.
 
-* EtherCAT-capable versions of standard Linux drivers for wide-spread
-  Ethernet devices.
-  - Interrupt-less operation of Ethernet devices.
-  - Easy implementation of additional Ethernet drivers through common device
-    interface.
+* Native EtherCAT-capable versions of standard Linux drivers for wide-spread
+  Ethernet devices, as well as a generic driver for all chips supported by the
+  Linux kernel.
+  - Interrupt-less operation of Ethernet devices when using native drivers.
+  - Easy implementation of additional native Ethernet drivers through common
+    device interface.
   - Operation possible with any device supported by the standard drivers,
     including PCMCIA devices.
+  - For any other hardware, the generic driver can be used. It uses the lower
+    layers of the Linux network stack.
 
 * Supports any realtime environment through independent architecture.
   - RTAI, Xenomai, RT-Preempt, etc.
--- a/TODO	Thu Jan 21 11:09:31 2010 +0100
+++ b/TODO	Thu Jan 21 11:10:22 2010 +0100
@@ -10,6 +10,37 @@
 
 Version 1.5.0:
 
+* Fix link detection in generic driver.
+* Remove byte-swapping functions from user space.
+* Implement 'ethercat foe_read --output-file ...'.
+* Use ec_datagram_zero() wherever possible.
+* Fix arguments of reg_read.
+* Number layout for reg_read.
+* Finish library implementation.
+* Rescan command.
+* Document ec_fsm_foe members.
+* Implement identifier parameter for cstruct command.
+* Implement sync delimiter for cstruct command.
+* Change SDO index at runtime for SDO request.
+* Output skipped datagrams again.
+* Output warning on unmatched slave configuration.
+* Output warning when send_ext() is called in illegal context.
+* Output hexadecimal values in 'ethercat xml'.
+* Add native drivers from 2.6.24 up to 2.6.31.
+
+Future issues:
+
+* Implement ecrt_slave_config_request_state().
+* Implement CompleteAccess for command-line tool.
+* Implement CompleteAccess for SDO uploads.
+* Check for Enable SDO Complete Access flag.
+* Remove default buffer size in SDO upload.
+* Improve application-triggered SDO transfers by moving the state machine into
+  the SDO handlers.
+* Check for ioctl() interface version.
+* Remove allow_scanning flag.
+* Override sync manager size?
+* Show Record / Array / List type of SDOs.
 * Distributed clocks:
     - Check 32/64 bit operations.
     - Use vendor correction factors when calculating transmission delays.
@@ -20,39 +51,6 @@
       "System Time" register instead of using the application time.
     - Check if register 0x0980 is working, to avoid clearing it when
       configuring.
-* Remove byte-swapping functions from user space.
-* Implement 'ethercat foe_read --output-file ...'.
-* Use ec_datagram_zero() where possible.
-* Fix arguments of reg_read.
-* Number layout for reg_read.
-* Show Record / Array / List type of SDOs.
-* Finish library implementation.
-* Rescan command.
-* Override sync manager size?
-* Check force_config flag before error.
-* Remove allow_scanning flag.
-* Check for ioctl() interface version.
-* Improve application-triggered SDO transfers by moving the state machine into
-  the SDO handlers.
-* Document ec_fsm_foe members.
-* Test KBUILD_EXTRA_SYMBOLS.
-* Remove default buffer size in SDO upload.
-* Check for Enable SDO Complete Access flag.
-* Implement CompleteAccess for command-line tool.
-* Implement CompleteAccess for SDO uploads.
-* Implement identifier parameter for cstruct command.
-* Implement sync delimiter for cstruct command.
-* Change SDO index at runtime for SDO request.
-* Implement ecrt_slave_config_request_state().
-* Output skipped datagrams again.
-* Output warning on unmatched slave configuration.
-* ec_direction_t default
-* Send_ext context warn
-* XML hex
-* r8169
-
-Future issues:
-
 * Mailbox protocol handlers.
 * Mailbox state machine using toggle bits.
 * External memory for SDO transfers.
--- a/configure.ac	Thu Jan 21 11:09:31 2010 +0100
+++ b/configure.ac	Thu Jan 21 11:10:22 2010 +0100
@@ -475,6 +475,30 @@
 fi
 
 #------------------------------------------------------------------------------
+# High-resolution timer support
+#------------------------------------------------------------------------------
+
+AC_ARG_ENABLE([hrtimer],
+    AS_HELP_STRING([--enable-hrtimer],
+                   [Use high-resolution timer for scheduling (default: no)]),
+    [
+        case "${enableval}" in
+            yes) hrtimer=1
+                ;;
+            no) hrtimer=0
+                ;;
+            *) AC_MSG_ERROR([Invalid value for --enable-hrtimer])
+                ;;
+        esac
+    ],
+    [hrtimer=0]
+)
+
+if test "x${hrtimer}" = "x1"; then
+    AC_DEFINE([EC_USE_HRTIMER], [1], [Use hrtimer for scheduling])
+fi
+
+#------------------------------------------------------------------------------
 # Command-line tool
 #-----------------------------------------------------------------------------
 
--- a/devices/generic.c	Thu Jan 21 11:09:31 2010 +0100
+++ b/devices/generic.c	Thu Jan 21 11:10:22 2010 +0100
@@ -70,16 +70,16 @@
 typedef struct {
     struct list_head list;
     struct net_device *netdev;
-	struct net_device *used_netdev;
-	struct socket *socket;
+    struct net_device *used_netdev;
+    struct socket *socket;
     ec_device_t *ecdev;
     uint8_t *rx_buf;
 } ec_gen_device_t;
 
 typedef struct {
     struct list_head list;
-	struct net_device *netdev;
-	char name[IFNAMSIZ];
+    struct net_device *netdev;
+    char name[IFNAMSIZ];
     int ifindex;
     uint8_t dev_addr[ETH_ALEN];
 } ec_gen_interface_desc_t;
@@ -202,7 +202,7 @@
     int ret;
     struct sockaddr_ll sa;
 
-	dev->rx_buf = kmalloc(EC_GEN_RX_BUF_SIZE, GFP_KERNEL);
+    dev->rx_buf = kmalloc(EC_GEN_RX_BUF_SIZE, GFP_KERNEL);
     if (!dev->rx_buf) {
         return -ENOMEM;
     }
@@ -242,8 +242,8 @@
 {
     int ret = 0;
 
-	dev->used_netdev = desc->netdev;
-	memcpy(dev->netdev->dev_addr, desc->dev_addr, ETH_ALEN);
+    dev->used_netdev = desc->netdev;
+    memcpy(dev->netdev->dev_addr, desc->dev_addr, ETH_ALEN);
 
     dev->ecdev = ecdev_offer(dev->netdev, ec_gen_poll, THIS_MODULE);
     if (dev->ecdev) {
@@ -254,7 +254,7 @@
             ecdev_withdraw(dev->ecdev);
             dev->ecdev = NULL;
         } else {
-			ecdev_set_link(dev->ecdev, netif_carrier_ok(dev->used_netdev)); // FIXME
+            ecdev_set_link(dev->ecdev, netif_carrier_ok(dev->used_netdev)); // FIXME
             ret = 1;
         }
     }
@@ -296,7 +296,7 @@
     size_t len = skb->len;
     int ret;
 
-	ecdev_set_link(dev->ecdev,netif_carrier_ok(dev->used_netdev));
+    ecdev_set_link(dev->ecdev, netif_carrier_ok(dev->used_netdev));
 
     iov.iov_base = skb->data;
     iov.iov_len = len;
@@ -319,8 +319,9 @@
     struct kvec iov;
     int ret, budget = 10; // FIXME
 
-	ecdev_set_link(dev->ecdev,netif_carrier_ok(dev->used_netdev));
-	do {
+    ecdev_set_link(dev->ecdev, netif_carrier_ok(dev->used_netdev));
+
+    do {
         iov.iov_base = dev->rx_buf;
         iov.iov_len = EC_GEN_RX_BUF_SIZE;
         memset(&msg, 0, sizeof(msg));
@@ -414,7 +415,7 @@
             goto out_err;
         }
         strncpy(desc->name, netdev->name, IFNAMSIZ);
-		desc->netdev = netdev;
+        desc->netdev = netdev;
         desc->ifindex = netdev->ifindex;
         memcpy(desc->dev_addr, netdev->dev_addr, ETH_ALEN);
         list_add_tail(&desc->list, &descs);
--- a/documentation/ethercat_doc.tex	Thu Jan 21 11:09:31 2010 +0100
+++ b/documentation/ethercat_doc.tex	Thu Jan 21 11:10:22 2010 +0100
@@ -16,7 +16,7 @@
 \usepackage{makeidx}
 \usepackage[refpage]{nomencl}
 \usepackage{listings}
-\usepackage{svn}
+\usepackage[nofancy]{rcsinfo}
 \usepackage{SIunits}
 \usepackage{amsmath} % for \text{}
 \usepackage{hyperref}
@@ -62,8 +62,7 @@
 \newcommand{\IgH}{\raisebox{-0.7667ex}
   {\includegraphics[height=2.2ex]{images/ighsign}}}
 
-\SVN $Date$
-\SVN $Revision$
+\rcsInfo $RCSId$
 
 \newcommand{\masterversion}{1.5.0}
 \newcommand{\linenum}[1]{\normalfont\textcircled{\tiny #1}}
@@ -71,6 +70,10 @@
 \makeindex
 \makenomenclature
 
+% Revision and date on inner footer
+\ifoot[\scriptsize\rcsInfoRevision, \rcsInfoDate]
+    {\scriptsize\rcsInfoRevision, \rcsInfoDate}
+
 %------------------------------------------------------------------------------
 
 \begin{document}
@@ -84,7 +87,7 @@
 
     {\Huge\bf IgH \includegraphics[height=2.4ex]{images/ethercat}
       Master \masterversion\\[1ex]
-      Preliminary Documentation}
+      Documentation}
 
     \vspace{1ex}
     \rule{\textwidth}{1.5mm}
@@ -93,13 +96,15 @@
     \url{fp@igh-essen.com}\\[1ex] Ingenieurgemeinschaft \IgH}
 
     \vspace{\fill}
-    {\Large Essen, \SVNDate\\[1ex]
-      Revision \SVNRevision}
+    {\Large Essen, \rcsInfoLongDate\\[1ex]
+      Revision \rcsInfoRevision}
   \end{center}
 \end{titlepage}
 
 %------------------------------------------------------------------------------
 
+\pagestyle{scrplain}
+
 \tableofcontents
 \listoftables
 \listoffigures
@@ -172,15 +177,20 @@
 
 \item Implemented according to IEC 61158-12 \cite{dlspec} \cite{alspec}.
 
-\item Comes with EtherCAT-capable drivers for several common Ethernet devices.
+\item Comes with EtherCAT-capable native drivers for several common Ethernet
+chips, as well as a generic driver for all chips supported by the Linux
+kernel.
 
   \begin{itemize}
 
-  \item The Ethernet hardware is operated without interrupts.
-
-  \item Drivers for additional Ethernet hardware can easily be implemented
-  using the common device interface (see sec.~\ref{sec:ecdev}) provided by the
-  master module.
+  \item The native drivers operate the hardware without interrupts.
+
+  \item Native drivers for additional Ethernet hardware can easily be
+  implemented using the common device interface (see sec.~\ref{sec:ecdev})
+  provided by the master module.
+
+  \item For any other hardware, the generic driver can be used. It uses the
+  lower layers of the Linux network stack.
 
   \end{itemize}
 
@@ -192,9 +202,9 @@
 
   \begin{itemize}
 
-  \item RTAI\nomenclature{RTAI}{Realtime Application Interface},
+  \item RTAI\nomenclature{RTAI}{Realtime Application Interface} \cite{rtai},
   ADEOS\nomenclature{ADEOS}{Adaptive Domain Environment for Operating
-  Systems}, etc.
+  Systems}, RT-Preempt \cite{rt-preempt}, etc.
 
   \item It runs well even without realtime extensions.
 
@@ -362,7 +372,7 @@
 
 \begin{figure}[htbp]
   \centering
-  \includegraphics[width=.9\textwidth]{images/architecture}
+  \includegraphics[width=\textwidth]{images/architecture}
   \caption{Master Architecture}
   \label{fig:arch}
 \end{figure}
@@ -933,8 +943,29 @@
 standard Ethernet hardware to communicate with the bus.
 
 The term \textit{device} is used as a synonym for Ethernet network interface
-hardware. There are device driver modules that handle Ethernet hardware, which
-a master can use to connect to an EtherCAT bus.
+hardware.
+
+\paragraph{Native Ethernet Device Drivers} There are native device driver
+modules (see sec.~\ref{sec:native-drivers}) that handle Ethernet hardware,
+which a master can use to connect to an EtherCAT bus. They offer their
+Ethernet hardware to the master module via the device interface (see
+sec.~\ref{sec:ecdev}) and must be capable to prepare Ethernet devices either
+for EtherCAT (realtime) operation or for ``normal'' operation using the
+kernel's network stack. The advantage of this approach is that the master can
+operate nearly directly on the hardware, which allows a high performance. The
+disadvantage is, that there has to be an EtherCAT-capable version of the
+original Ethernet driver.
+
+\paragraph{Generic Ethernet Device Driver} From master version 1.5, there is a
+generic Ethernet device driver module (see sec.~\ref{sec:generic-driver}),
+that uses the lower layers of the network stack to connect to the hardware.
+The advantage is, that arbitrary Ethernet hardware can be used for EtherCAT
+operation, independently of the actual hardware driver (so all Linux Ethernet
+drivers are supported without modifications). The disadvantage is, that this
+approach does not support realtime extensions like RTAI, because the Linux
+network stack is addressed. Moreover the performance is a little worse than
+the native approach, because the Ethernet frame data have to traverse the
+network stack.
 
 %------------------------------------------------------------------------------
 
@@ -947,52 +978,44 @@
 to understand how Linux handles network devices and their drivers,
 respectively.
 
-\paragraph{Tasks of a Network Driver}
-
-Network device drivers usually handle the lower two layers of the OSI model,
-that is the physical layer and the data-link layer. A network device itself
-natively handles the physical layer issues: It represents the hardware to
-connect to the medium and to send and receive data in the way, the physical
-layer protocol describes. The network device driver is responsible for getting
-data from the kernel's networking stack and forwarding it to the hardware,
-that does the physical transmission.  If data is received by the hardware
-respectively, the driver is notified (usually by means of an interrupt) and
-has to read the data from the hardware memory and forward it to the network
-stack. There are a few more tasks, a network device driver has to handle,
-including queue control, statistics and device dependent features.
-
-\paragraph{Driver Startup}
-
-Usually, a driver searches for compatible devices on module loading.
-For PCI drivers, this is done by scanning the PCI bus and checking for
-known device IDs. If a device is found, data structures are allocated
-and the device is taken into operation.
-
-\paragraph{Interrupt Operation}
-\index{Interrupt}
-
-A network device usually provides a hardware interrupt that is used to
-notify the driver of received frames and success of transmission, or
-errors, respectively. The driver has to register an interrupt service
-routine (ISR\index{ISR}\nomenclature{ISR}{Interrupt Service Routine}),
-that is executed each time, the hardware signals such an event. If the
-interrupt was thrown by the own device (multiple devices can share one
-hardware interrupt), the reason for the interrupt has to be determined
-by reading the device's interrupt register. For example, if the flag
-for received frames is set, frame data has to be copied from hardware
-to kernel memory and passed to the network stack.
-
-\paragraph{The \lstinline+net_device+ Structure}
-\index{net\_device}
-
-The driver registers a \lstinline+net_device+ structure for each device to
-communicate with the network stack and to create a ``network interface''. In
-case of an Ethernet driver, this interface appears as \textit{ethX}, where X
-is a number assigned by the kernel on registration. The \lstinline+net_device+
-structure receives events (either from userspace or from the network stack)
-via several callbacks, which have to be set before registration. Not every
-callback is mandatory, but for reasonable operation the ones below are needed
-in any case:
+\paragraph{Tasks of a Network Driver} Network device drivers usually handle
+the lower two layers of the OSI model, that is the physical layer and the
+data-link layer. A network device itself natively handles the physical layer
+issues: It represents the hardware to connect to the medium and to send and
+receive data in the way, the physical layer protocol describes. The network
+device driver is responsible for getting data from the kernel's networking
+stack and forwarding it to the hardware, that does the physical transmission.
+If data is received by the hardware respectively, the driver is notified
+(usually by means of an interrupt) and has to read the data from the hardware
+memory and forward it to the network stack. There are a few more tasks, a
+network device driver has to handle, including queue control, statistics and
+device dependent features.
+
+\paragraph{Driver Startup} Usually, a driver searches for compatible devices
+on module loading.  For PCI drivers, this is done by scanning the PCI bus and
+checking for known device IDs. If a device is found, data structures are
+allocated and the device is taken into operation.
+
+\paragraph{Interrupt Operation}\index{Interrupt} A network device usually
+provides a hardware interrupt that is used to notify the driver of received
+frames and success of transmission, or errors, respectively. The driver has to
+register an interrupt service routine
+(ISR\index{ISR}\nomenclature{ISR}{Interrupt Service Routine}), that is
+executed each time, the hardware signals such an event. If the interrupt was
+thrown by the own device (multiple devices can share one hardware interrupt),
+the reason for the interrupt has to be determined by reading the device's
+interrupt register. For example, if the flag for received frames is set, frame
+data has to be copied from hardware to kernel memory and passed to the network
+stack.
+
+\paragraph{The \lstinline+net_device+ Structure}\index{net\_device} The driver
+registers a \lstinline+net_device+ structure for each device to communicate
+with the network stack and to create a ``network interface''. In case of an
+Ethernet driver, this interface appears as \textit{ethX}, where X is a number
+assigned by the kernel on registration. The \lstinline+net_device+ structure
+receives events (either from userspace or from the network stack) via several
+callbacks, which have to be set before registration. Not every callback is
+mandatory, but for reasonable operation the ones below are needed in any case:
 
 \newsavebox\boxopen
 \sbox\boxopen{\lstinline+open()+}
@@ -1027,17 +1050,15 @@
 The actual registration is done with the \lstinline+register_netdev()+ call,
 unregistering is done with \lstinline+unregister_netdev()+.
 
-\paragraph{The \lstinline+netif+ Interface}
-\index{netif}
-
-All other communication in the direction interface $\to$ network stack is done
-via the \lstinline+netif_*()+ calls. For example, on successful device opening,
-the network stack has to be notified, that it can now pass frames to the
+\paragraph{The \lstinline+netif+ Interface}\index{netif} All other
+communication in the direction interface $\to$ network stack is done via the
+\lstinline+netif_*()+ calls. For example, on successful device opening, the
+network stack has to be notified, that it can now pass frames to the
 interface. This is done by calling \lstinline+netif_start_queue()+. After this
 call, the \lstinline+hard_start_xmit()+ callback can be called by the network
-stack. Furthermore a network driver usually manages a frame transmission queue.
-If this gets filled up, the network stack has to be told to stop passing
-further frames for a while. This happens with a call to
+stack. Furthermore a network driver usually manages a frame transmission
+queue.  If this gets filled up, the network stack has to be told to stop
+passing further frames for a while. This happens with a call to
 \lstinline+netif_stop_queue()+. If some frames have been sent, and there is
 enough space again to queue new frames, this can be notified with
 \lstinline+netif_wake_queue()+. Another important call is
@@ -1049,48 +1070,42 @@
 network stack, that was just received by the device. Frame data has to be
 included in a so-called ``socket buffer'' for that (see below).
 
-\paragraph{Socket Buffers}
-\index{Socket buffer}
-
-Socket buffers are the basic data type for the whole network stack. They serve
-as containers for network data and are able to quickly add data headers and
-footers, or strip them off again. Therefore a socket buffer consists of an
-allocated buffer and several pointers that mark beginning of the buffer
-(\lstinline+head+), beginning of data (\lstinline+data+), end of data
-(\lstinline+tail+) and end of buffer (\lstinline+end+). In addition, a socket
-buffer holds network header information and (in case of received data) a
-pointer to the \lstinline+net_device+, it was received on. There exist
-functions that create a socket buffer (\lstinline+dev_alloc_skb()+), add data
-either from front (\lstinline+skb_push()+) or back (\lstinline+skb_put()+),
-remove data from front (\lstinline+skb_pull()+) or back
-(\lstinline+skb_trim()+), or delete the buffer (\lstinline+kfree_skb()+).  A
-socket buffer is passed from layer to layer, and is freed by the layer that
-uses it the last time. In case of sending, freeing has to be done by the
-network driver.
-
-%------------------------------------------------------------------------------
-
-\section{EtherCAT Device Drivers}
-\label{sec:drivers}
-
-There are a few requirements for Ethernet network devices to function as
-EtherCAT devices, when connected to an EtherCAT bus.
-
-\paragraph{Dedicated Interfaces}
-
-For performance and realtime purposes, the EtherCAT master needs direct and
-exclusive access to the Ethernet hardware. This implies that the network device
-must not be connected to the kernel's network stack as usual, because the
-kernel would try to use it as an ordinary Ethernet device.
-
-\paragraph{Interrupt-less Operation}
-\index{Interrupt}
-
-EtherCAT frames travel through the logical EtherCAT ring and are then sent back
-to the master. Communication is highly deterministic: A frame is sent and will
-be received again after a constant time, so there is no need to notify the
-driver about frame reception: The master can instead query the hardware for
-received frames, if it expects them to be already received.
+\paragraph{Socket Buffers}\index{Socket buffer} Socket buffers are the basic
+data type for the whole network stack. They serve as containers for network
+data and are able to quickly add data headers and footers, or strip them off
+again. Therefore a socket buffer consists of an allocated buffer and several
+pointers that mark beginning of the buffer (\lstinline+head+), beginning of
+data (\lstinline+data+), end of data (\lstinline+tail+) and end of buffer
+(\lstinline+end+). In addition, a socket buffer holds network header
+information and (in case of received data) a pointer to the
+\lstinline+net_device+, it was received on. There exist functions that create
+a socket buffer (\lstinline+dev_alloc_skb()+), add data either from front
+(\lstinline+skb_push()+) or back (\lstinline+skb_put()+), remove data from
+front (\lstinline+skb_pull()+) or back (\lstinline+skb_trim()+), or delete the
+buffer (\lstinline+kfree_skb()+).  A socket buffer is passed from layer to
+layer, and is freed by the layer that uses it the last time. In case of
+sending, freeing has to be done by the network driver.
+
+%------------------------------------------------------------------------------
+
+\section{Native EtherCAT Device Drivers}
+\label{sec:native-drivers}
+
+There are a few requirements, that applies to Ethernet hardware when used with
+a native Ethernet driver with EtherCAT functionality.
+
+\paragraph{Dedicated Hardware} For performance and realtime purposes, the
+EtherCAT master needs direct and exclusive access to the Ethernet hardware.
+This implies that the network device must not be connected to the kernel's
+network stack as usual, because the kernel would try to use it as an ordinary
+Ethernet device.
+
+\paragraph{Interrupt-less Operation}\index{Interrupt} EtherCAT frames travel
+through the logical EtherCAT ring and are then sent back to the master.
+Communication is highly deterministic: A frame is sent and will be received
+again after a constant time, so there is no need to notify the driver about
+frame reception: The master can instead query the hardware for received
+frames, if it expects them to be already received.
 
 Figure~\ref{fig:interrupt} shows two workflows for cyclic frame transmission
 and reception with and without interrupts.
@@ -1123,16 +1138,15 @@
 extension (like RTAI) is used, some additional effort would have to be made to
 prioritize interrupts.
 
-\paragraph{Ethernet and EtherCAT Devices}
-
-Another issue lies in the way Linux handles devices of the same type.  For
-example, a PCI\nomenclature{PCI}{Peripheral Component Interconnect, Computer
-Bus} driver scans the PCI bus for devices it can handle. Then it registers
-itself as the responsible driver for all of the devices found. The problem is,
-that an unmodified driver can not be told to ignore a device because it will
-be used for EtherCAT later. There must be a way to handle multiple devices of
-the same type, where one is reserved for EtherCAT, while the other is treated
-as an ordinary Ethernet device.
+\paragraph{Ethernet and EtherCAT Devices} Another issue lies in the way Linux
+handles devices of the same type.  For example, a
+PCI\nomenclature{PCI}{Peripheral Component Interconnect, Computer Bus} driver
+scans the PCI bus for devices it can handle. Then it registers itself as the
+responsible driver for all of the devices found. The problem is, that an
+unmodified driver can not be told to ignore a device because it will be used
+for EtherCAT later. There must be a way to handle multiple devices of the same
+type, where one is reserved for EtherCAT, while the other is treated as an
+ordinary Ethernet device.
 
 For all this reasons, the author decided that the only acceptable solution is
 to modify standard Ethernet drivers in a way that they keep their normal
@@ -1160,15 +1174,64 @@
 
 %------------------------------------------------------------------------------
 
-\section{Device Selection}
-\label{sec:deviceselection}
-
-After loading the master module, at least one EtherCAT-capable network driver
-module has to be loaded, that offers its devices to the master (see
-sec.~\ref{sec:ecdev}. The master module knows the devices to choose from the
-module parameters (see sec.~\ref{sec:mastermod}). If the init script is used
-to start the master, the drivers and devices to use can be specified in the
-sysconfig file (see sec.~\ref{sec:sysconfig}).
+\section{Generic EtherCAT Device Driver}
+\label{sec:generic-driver}
+
+Since there are approaches to enable the complete Linux kernel for realtime
+operation \cite{rt-preempt}, it is possible to operate without native
+implementations of EtherCAT-capable Ethernet device drivers and use the Linux
+network stack instead. Fig.~\ref{fig:arch} shows the ``Generic Ethernet Driver
+Module'', that connects to local Ethernet devices via the network stack. The
+kernel module is named \lstinline+ec_generic+ and can be loaded after the
+master module like a native EtherCAT-capable Ethernet driver.
+
+The generic device driver scans the network stack for interfaces, that have
+been registered by Ethernet device drivers. It offers all possible devices to
+the EtherCAT master. If the master accepts a device, the generic driver
+creates a packet socket (see \lstinline+man 7 packet+) with
+\lstinline+socket_type+ set to \lstinline+SOCK_RAW+, bound to that device. All
+functions of the device interface (see sec.~\ref{sec:ecdev}) will then operate
+on that socket.
+
+Below are the advantages of this solution:
+
+\begin{itemize}
+\item Any Ethernet hardware, that is covered by a Linux Ethernet driver can be
+used for EtherCAT.
+\item No modifications have to be made to the actual Ethernet drivers.
+\end{itemize}
+
+The generic approach has the following disadvantages:
+
+\begin{itemize}
+\item The performance is a little worse than the native approach, because the
+frame data have to traverse the lower layers of the network stack.
+\item It is not possible to use in-kernel realtime extensions like RTAI with
+the generic driver, because the network stack code uses dynamic memory
+allocations and other things, that could cause the system to freeze in
+realtime context.
+\end{itemize}
+
+%------------------------------------------------------------------------------
+
+\section{Providing Ethernet Devices}
+\label{sec:providing-devices}
+
+After loading the master module, additional module(s) have to be loaded to
+offer devices to the master(s) (see sec.~\ref{sec:ecdev}). The master module
+knows the devices to choose from the module parameters (see
+sec.~\ref{sec:mastermod}). If the init script is used to start the master, the
+drivers and devices to use can be specified in the sysconfig file (see
+sec.~\ref{sec:sysconfig}).
+
+Modules offering Ethernet devices can be
+
+\begin{itemize}
+\item native EtherCAT-capable network driver modules (see
+sec.~\ref{sec:native-drivers}) or
+\item the generic EtherCAT device driver module (see
+sec.~\ref{sec:generic-driver}).
+\end{itemize}
 
 %------------------------------------------------------------------------------
 
@@ -1196,14 +1259,15 @@
 
 %------------------------------------------------------------------------------
 
-\section{Patching Network Drivers}
+\section{Patching Native Network Drivers}
 \label{sec:patching}
 \index{Network drivers}
 
 This section will describe, how to make a standard Ethernet driver
-EtherCAT-capable. Unfortunately, there is no standard procedure to enable an
-Ethernet driver for use with the EtherCAT master, but there are a few common
-techniques.
+EtherCAT-capable, using the native approach (see
+sec.~\ref{sec:native-drivers}). Unfortunately, there is no standard procedure
+to enable an Ethernet driver for use with the EtherCAT master, but there are a
+few common techniques.
 
 \begin{enumerate}
 
@@ -2605,14 +2669,21 @@
 
 EtherCAT buses can always be monitored by inserting a switch between master
 and slaves. This allows to connect another PC with a network monitor like
-Wireshark~\cite{wireshark}, for example.
-
-For convenience, so-called ``debug interfaces'' are supported. Debug
-interfaces are virtual network interfaces allowing to capture EtherCAT traffic
-with a network monitor (like Wireshark or tcpdump) running on the master
-machine without using external hardware. To use this functionality, the master
-sources have to be configured with the \lstinline+--enable-debug-if+ switch
-(see sec.~\ref{sec:installation}).
+Wireshark~\cite{wireshark}, for example. It is also possible to listen to
+local network interfaces on the machine running the EtherCAT master directly.
+If the generic Ethernet driver (see sec.~\ref{sec:generic-driver}) is used,
+the network monitor can directly listen on the network interface connected to
+the EtherCAT bus.
+
+When using native Ethernet drivers (see sec.~\ref{sec:native-drivers}), there
+are no local network interfaces to listen to, because the Ethernet devices
+used for EtherCAT are not registered at the network stack. For that case,
+so-called ``debug interfaces'' are supported, which are virtual network
+interfaces allowing to capture EtherCAT traffic with a network monitor (like
+Wireshark or tcpdump) running on the master machine without using external
+hardware. To use this functionality, the master sources have to be configured
+with the \lstinline+--enable-debug-if+ switch (see
+sec.~\ref{sec:installation}).
 
 Every EtherCAT master registers a read-only network interface per attached
 physical Ethernet device. The network interfaces are named \textit{ecdbgmX}
@@ -2644,8 +2715,8 @@
 connected, the debug interface can produce thousands of frames per second.
 
 \paragraph{Attention} The socket buffers needed for the operation of debug
-interfaces have to be allocated dynamically. Some Linux realtime extensions do
-not allow this in realtime context!
+interfaces have to be allocated dynamically. Some Linux realtime extensions
+(like RTAI) do not allow this in realtime context!
 
 %------------------------------------------------------------------------------
 
@@ -2794,19 +2865,58 @@
 \label{sec:installation}
 \index{Master!Installation}
 
+\section{Getting the Software}
+\label{sec:getting}
+
+There are several ways to get the master software:
+
+\begin{enumerate}
+
+\item An official release (for example \masterversion), can be downloaded from
+the master's website\footnote{\url{http://etherlab.org/en/ethercat/index.php}}
+at~the EtherLab project~\cite{etherlab} as a tarball.
+
+\item The most recent development revision (and moreover any other revision)
+can be obtained via the Mercurial~\cite{mercurial} repository on the master's
+project page on
+SourceForge.net\footnote{\url{http://sourceforge.net/projects/etherlabmaster}}.
+The whole repository can be cloned with the command
+
+\begin{lstlisting}[breaklines=true]
+hg clone http://etherlabmaster.hg.sourceforge.net/hgweb/etherlabmaster/etherlabmaster `\textit{local-dir}`
+\end{lstlisting}
+
+\item Without a local Mercurial installation, tarballs of arbitrary revisions
+can be downloaded via the ``bz2'' links in the browsable repository
+pages\footnote{\url{http://etherlabmaster.hg.sourceforge.net/hgweb/etherlabmaster/etherlabmaster}}.
+
+\end{enumerate}
+
 \section{Building the Software}
 
-The current EtherCAT master code is available at~\cite{etherlab} or can be
-obtained from the EtherLab CD. The \textit{tar.bz2} file has to be unpacked
-with the commands below (or similar):
+After downloading a tarball or cloning the repository as described in
+sec.~\ref{sec:getting}, the sources have to be prepared and configured for the
+build process.
+
+When a tarball was downloaded, it has to be extracted with the following
+commands:
 
 \begin{lstlisting}[gobble=2]
   $ `\textbf{tar xjf ethercat-\masterversion.tar.bz2}`
   $ `\textbf{cd ethercat-\masterversion/}`
 \end{lstlisting}
 
-The tarball was created with GNU Autotools, so the build process
-follows the below commands:
+The software configuration is managed with Autoconf~\cite{autoconf} so the
+released versions contain a \lstinline+configure+ shell script, that has to be
+executed for configuration (see below).
+
+\paragraph{Bootstrap} When downloading or cloning directly from the
+repository, the \lstinline+configure+ script does not yet exist. It can be
+created via the \lstinline+bootstrap.sh+ script in the master sources. The
+autoconf and automake packages are required for this.
+
+\paragraph{Configuration and Build} The configuration and the build process
+follow the below commands:
 
 \begin{lstlisting}[gobble=2]
   $ `\textbf{./configure}`
@@ -2832,6 +2942,11 @@
 
 \hline
 
+\lstinline+--enable-tool+ & Build the command-line tool ``ethercat'' (see
+sec.~\ref{sec:tool}). & yes\\
+
+\lstinline+--enable-userlib+ & Build the userspace library. & yes\\
+
 \lstinline+--enable-eoe+ & Enable EoE support & yes\\
 
 \lstinline+--enable-cycles+ & Use CPU timestamp counter. Enable this on Intel
@@ -2855,6 +2970,13 @@
 
 \lstinline+--with-e1000-kernel+ & e1000 kernel & $\dagger$\\
 
+\lstinline+--enable-r8169+ & Enable r8169 driver & no\\
+
+\lstinline+--with-r8169-kernel+ & r8169 kernel & $\dagger$\\
+
+\lstinline+--enable-generic+ & Build the generic Ethernet driver (see
+sec.~\ref{sec:generic-driver}). & no\\
+
   \end{tabular}
   \vspace{2mm}
 
@@ -3049,11 +3171,19 @@
 2004.
 
 \bibitem{rtai} RTAI. The RealTime Application Interface for Linux from DIAPM.
-\url{http://www.rtai.org}, 2006.
+\url{https://www.rtai.org}, 2010.
+
+\bibitem{rt-preempt} RT PREEMPT HOWTO.
+\url{http://rt.wiki.kernel.org/index.php/RT_PREEMPT_HOWTO}, 2010.
 
 \bibitem{doxygen} Doxygen. Source code documentation generator tool.
 \url{http://www.stack.nl/~dimitri/doxygen}, 2008.
 
+\bibitem{mercurial} Mercurial SCM. \url{http://mercurial.selenic.com}, 2010.
+
+\bibitem{autoconf} Autoconf -- GNU Project -- Free Software Foundation (FSF).
+\url{http://www.gnu.org/software/autoconf}, 2010.
+
 \end{thebibliography}
 
 \printnomenclature
--- a/documentation/images/Makefile	Thu Jan 21 11:09:31 2010 +0100
+++ b/documentation/images/Makefile	Thu Jan 21 11:10:22 2010 +0100
@@ -6,7 +6,6 @@
 
 FIGS := \
 	app-config.fig \
-	architecture.fig \
 	attach.fig \
 	dc.fig \
 	fmmus.fig \
@@ -18,14 +17,22 @@
 	phases.fig \
 	statetrans.fig
 
-PDFS = $(FIGS:.fig=.pdf)
+FIGPDFS = $(FIGS:.fig=.pdf)
 
-all: $(PDFS)
+SVGS := \
+	architecture.svg
+
+SVGPDFS = $(SVGS:.svg=.pdf)
+
+all: $(FIGPDFS) $(SVGPDFS)
 
 %.pdf: %.fig
 	fig2dev -L pdf -z A4 -p xxx -c $< $@	
 
+%.pdf: %.svg
+	inkscape --export-pdf=$@ $<
+
 clean:
-	@rm -rv $(PDFS)
+	@rm -rv $(FIGPDFS) $(SVGPDFS)
 
 #-----------------------------------------------------------------------------
--- a/documentation/images/architecture.fig	Thu Jan 21 11:09:31 2010 +0100
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
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--- a/examples/Makefile.am	Thu Jan 21 11:09:31 2010 +0100
+++ b/examples/Makefile.am	Thu Jan 21 11:10:22 2010 +0100
@@ -27,12 +27,19 @@
 #
 #------------------------------------------------------------------------------
 
+SUBDIRS =
+
 if ENABLE_USERLIB
-SUBDIRS = \
+SUBDIRS += \
 	dc_user \
 	user
 endif
 
+if ENABLE_TTY
+SUBDIRS += \
+	tty
+endif
+
 DIST_SUBDIRS = \
 	dc_rtai \
 	dc_user \
--- a/examples/tty/Kbuild.in	Thu Jan 21 11:09:31 2010 +0100
+++ b/examples/tty/Kbuild.in	Thu Jan 21 11:10:22 2010 +0100
@@ -33,7 +33,11 @@
 
 obj-m := ec_tty_example.o
 
-ec_tty_example-objs := tty.o
+ec_tty_example-objs := \
+	serial.o \
+	tty.o
+
+CFLAGS_tty.o := -I$(src)
 
 KBUILD_EXTRA_SYMBOLS := \
 	@abs_top_builddir@/Module.symvers \
--- a/examples/tty/Makefile.am	Thu Jan 21 11:09:31 2010 +0100
+++ b/examples/tty/Makefile.am	Thu Jan 21 11:10:22 2010 +0100
@@ -31,9 +31,12 @@
 #
 #------------------------------------------------------------------------------
 
+noinst_HEADERS = \
+	serial.h \
+	tty.c
+
 EXTRA_DIST = \
-	Kbuild.in \
-	tty.c
+	Kbuild.in
 
 BUILT_SOURCES = \
 	Kbuild
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/tty/serial.c	Thu Jan 21 11:10:22 2010 +0100
@@ -0,0 +1,455 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU General Public License version 2, as
+ *  published by the Free Software Foundation.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
+ *  Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License along
+ *  with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  ---
+ *
+ *  The license mentioned above concerns the source code only. Using the
+ *  EtherCAT technology and brand is only permitted in compliance with the
+ *  industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ *****************************************************************************/
+
+#include <linux/module.h>
+#include <linux/err.h>
+
+#include "../../include/ecrt.h" // EtherCAT realtime interface
+#include "../../include/ectty.h" // EtherCAT TTY interface
+
+/*****************************************************************************/
+
+// Optional features
+#define PFX "ec_tty_example: "
+
+/*****************************************************************************/
+
+#define VendorIdBeckhoff 0x00000002
+#define ProductCodeBeckhoffEL6002 0x17723052
+#define Beckhoff_EL6002 VendorIdBeckhoff, ProductCodeBeckhoffEL6002
+
+typedef enum {
+    SER_REQUEST_INIT,
+    SER_WAIT_FOR_INIT_RESPONSE,
+    SER_READY
+} serial_state_t;
+
+typedef struct {
+    struct list_head list;
+
+    ec_tty_t *tty;
+    ec_slave_config_t *sc;
+
+    size_t max_tx_data_size;
+    size_t max_rx_data_size;
+
+    u8 *tx_data;
+    u8 tx_data_size;
+
+    serial_state_t state;
+
+    u8 tx_request_toggle;
+    u8 tx_accepted_toggle;
+
+    u8 rx_request_toggle;
+    u8 rx_accepted_toggle;
+
+    u16 control;
+
+    u32 off_ctrl;
+    u32 off_tx;
+    u32 off_status;
+    u32 off_rx;
+} el6002_t;
+
+LIST_HEAD(handlers);
+        
+/*****************************************************************************/
+
+/* Beckhoff EL6002
+ * Vendor ID:       0x00000002
+ * Product code:    0x17723052
+ * Revision number: 0x00100000
+ */
+
+ec_pdo_entry_info_t el6002_pdo_entries[] = {
+   {0x7001, 0x01, 16}, /* Ctrl */
+   {0x7000, 0x11, 8}, /* Data Out 0 */
+   {0x7000, 0x12, 8}, /* Data Out 1 */
+   {0x7000, 0x13, 8}, /* Data Out 2 */
+   {0x7000, 0x14, 8}, /* Data Out 3 */
+   {0x7000, 0x15, 8}, /* Data Out 4 */
+   {0x7000, 0x16, 8}, /* Data Out 5 */
+   {0x7000, 0x17, 8}, /* Data Out 6 */
+   {0x7000, 0x18, 8}, /* Data Out 7 */
+   {0x7000, 0x19, 8}, /* Data Out 8 */
+   {0x7000, 0x1a, 8}, /* Data Out 9 */
+   {0x7000, 0x1b, 8}, /* Data Out 10 */
+   {0x7000, 0x1c, 8}, /* Data Out 11 */
+   {0x7000, 0x1d, 8}, /* Data Out 12 */
+   {0x7000, 0x1e, 8}, /* Data Out 13 */
+   {0x7000, 0x1f, 8}, /* Data Out 14 */
+   {0x7000, 0x20, 8}, /* Data Out 15 */
+   {0x7000, 0x21, 8}, /* Data Out 16 */
+   {0x7000, 0x22, 8}, /* Data Out 17 */
+   {0x7000, 0x23, 8}, /* Data Out 18 */
+   {0x7000, 0x24, 8}, /* Data Out 19 */
+   {0x7000, 0x25, 8}, /* Data Out 20 */
+   {0x7000, 0x26, 8}, /* Data Out 21 */
+   {0x7011, 0x01, 16}, /* Ctrl */
+   {0x7010, 0x11, 8}, /* Data Out 0 */
+   {0x7010, 0x12, 8}, /* Data Out 1 */
+   {0x7010, 0x13, 8}, /* Data Out 2 */
+   {0x7010, 0x14, 8}, /* Data Out 3 */
+   {0x7010, 0x15, 8}, /* Data Out 4 */
+   {0x7010, 0x16, 8}, /* Data Out 5 */
+   {0x7010, 0x17, 8}, /* Data Out 6 */
+   {0x7010, 0x18, 8}, /* Data Out 7 */
+   {0x7010, 0x19, 8}, /* Data Out 8 */
+   {0x7010, 0x1a, 8}, /* Data Out 9 */
+   {0x7010, 0x1b, 8}, /* Data Out 10 */
+   {0x7010, 0x1c, 8}, /* Data Out 11 */
+   {0x7010, 0x1d, 8}, /* Data Out 12 */
+   {0x7010, 0x1e, 8}, /* Data Out 13 */
+   {0x7010, 0x1f, 8}, /* Data Out 14 */
+   {0x7010, 0x20, 8}, /* Data Out 15 */
+   {0x7010, 0x21, 8}, /* Data Out 16 */
+   {0x7010, 0x22, 8}, /* Data Out 17 */
+   {0x7010, 0x23, 8}, /* Data Out 18 */
+   {0x7010, 0x24, 8}, /* Data Out 19 */
+   {0x7010, 0x25, 8}, /* Data Out 20 */
+   {0x7010, 0x26, 8}, /* Data Out 21 */
+   {0x6001, 0x01, 16}, /* Status */
+   {0x6000, 0x11, 8}, /* Data In 0 */
+   {0x6000, 0x12, 8}, /* Data In 1 */
+   {0x6000, 0x13, 8}, /* Data In 2 */
+   {0x6000, 0x14, 8}, /* Data In 3 */
+   {0x6000, 0x15, 8}, /* Data In 4 */
+   {0x6000, 0x16, 8}, /* Data In 5 */
+   {0x6000, 0x17, 8}, /* Data In 6 */
+   {0x6000, 0x18, 8}, /* Data In 7 */
+   {0x6000, 0x19, 8}, /* Data In 8 */
+   {0x6000, 0x1a, 8}, /* Data In 9 */
+   {0x6000, 0x1b, 8}, /* Data In 10 */
+   {0x6000, 0x1c, 8}, /* Data In 11 */
+   {0x6000, 0x1d, 8}, /* Data In 12 */
+   {0x6000, 0x1e, 8}, /* Data In 13 */
+   {0x6000, 0x1f, 8}, /* Data In 14 */
+   {0x6000, 0x20, 8}, /* Data In 15 */
+   {0x6000, 0x21, 8}, /* Data In 16 */
+   {0x6000, 0x22, 8}, /* Data In 17 */
+   {0x6000, 0x23, 8}, /* Data In 18 */
+   {0x6000, 0x24, 8}, /* Data In 19 */
+   {0x6000, 0x25, 8}, /* Data In 20 */
+   {0x6000, 0x26, 8}, /* Data In 21 */
+   {0x6011, 0x01, 16}, /* Status */
+   {0x6010, 0x11, 8}, /* Data In 0 */
+   {0x6010, 0x12, 8}, /* Data In 1 */
+   {0x6010, 0x13, 8}, /* Data In 2 */
+   {0x6010, 0x14, 8}, /* Data In 3 */
+   {0x6010, 0x15, 8}, /* Data In 4 */
+   {0x6010, 0x16, 8}, /* Data In 5 */
+   {0x6010, 0x17, 8}, /* Data In 6 */
+   {0x6010, 0x18, 8}, /* Data In 7 */
+   {0x6010, 0x19, 8}, /* Data In 8 */
+   {0x6010, 0x1a, 8}, /* Data In 9 */
+   {0x6010, 0x1b, 8}, /* Data In 10 */
+   {0x6010, 0x1c, 8}, /* Data In 11 */
+   {0x6010, 0x1d, 8}, /* Data In 12 */
+   {0x6010, 0x1e, 8}, /* Data In 13 */
+   {0x6010, 0x1f, 8}, /* Data In 14 */
+   {0x6010, 0x20, 8}, /* Data In 15 */
+   {0x6010, 0x21, 8}, /* Data In 16 */
+   {0x6010, 0x22, 8}, /* Data In 17 */
+   {0x6010, 0x23, 8}, /* Data In 18 */
+   {0x6010, 0x24, 8}, /* Data In 19 */
+   {0x6010, 0x25, 8}, /* Data In 20 */
+   {0x6010, 0x26, 8}, /* Data In 21 */
+};
+
+ec_pdo_info_t el6002_pdos[] = {
+   {0x1604, 23, el6002_pdo_entries + 0}, /* COM RxPDO-Map Outputs Ch.1 */
+   {0x1605, 23, el6002_pdo_entries + 23}, /* COM RxPDO-Map Outputs Ch.2 */
+   {0x1a04, 23, el6002_pdo_entries + 46}, /* COM TxPDO-Map Inputs Ch.1 */
+   {0x1a05, 23, el6002_pdo_entries + 69}, /* COM TxPDO-Map Inputs Ch.2 */
+};
+
+ec_sync_info_t el6002_syncs[] = {
+   {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
+   {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
+   {2, EC_DIR_OUTPUT, 2, el6002_pdos + 0, EC_WD_DISABLE},
+   {3, EC_DIR_INPUT, 2, el6002_pdos + 2, EC_WD_DISABLE},
+   {0xff}
+};
+
+/****************************************************************************/
+
+int el6002_init(el6002_t *ser, ec_master_t *master, u16 position,
+        ec_domain_t *domain)
+{
+    int ret = 0;
+
+    ser->tty = ectty_create();
+    if (IS_ERR(ser->tty)) {
+        printk(KERN_ERR PFX "Failed to create tty.\n");
+        ret = PTR_ERR(ser->tty);
+        goto out_return;
+    }
+
+    ser->sc = NULL;
+    ser->max_tx_data_size = 22;
+    ser->max_rx_data_size = 22;
+    ser->tx_data = NULL;
+    ser->tx_data_size = 0;
+    ser->state = SER_REQUEST_INIT;
+    ser->tx_request_toggle = 0;
+    ser->rx_accepted_toggle = 0;
+    ser->control = 0x0000;
+    ser->off_ctrl = 0;
+    ser->off_tx = 0;
+    ser->off_status = 0;
+    ser->off_rx = 0;
+
+    if (!(ser->sc = ecrt_master_slave_config(
+                    master, 0, position, Beckhoff_EL6002))) {
+        printk(KERN_ERR PFX "Failed to create slave configuration.\n");
+        ret = -EBUSY;
+        goto out_free_tty;
+    }
+
+    if (ecrt_slave_config_pdos(ser->sc, EC_END, el6002_syncs)) {
+        printk(KERN_ERR PFX "Failed to configure PDOs.\n");
+        ret = -ENOMEM;
+        goto out_free_tty;
+    }
+    
+    ret = ecrt_slave_config_reg_pdo_entry(
+            ser->sc, 0x7001, 0x01, domain, NULL);
+    if (ret < 0) {
+        printk(KERN_ERR PFX "Failed to register PDO entry.\n");
+        goto out_free_tty;
+    }
+    ser->off_ctrl = ret;
+
+    ret = ecrt_slave_config_reg_pdo_entry(
+            ser->sc, 0x7000, 0x11, domain, NULL);
+    if (ret < 0) {
+        printk(KERN_ERR PFX "Failed to register PDO entry.\n");
+        goto out_free_tty;
+    }
+    ser->off_tx = ret;
+
+    ret = ecrt_slave_config_reg_pdo_entry(
+            ser->sc, 0x6001, 0x01, domain, NULL);
+    if (ret < 0) {
+        printk(KERN_ERR PFX "Failed to register PDO entry.\n");
+        goto out_free_tty;
+    }
+    ser->off_status = ret;
+
+    ret = ecrt_slave_config_reg_pdo_entry(
+            ser->sc, 0x6000, 0x11, domain, NULL);
+    if (ret < 0) {
+        printk(KERN_ERR PFX "Failed to register PDO entry.\n");
+        goto out_free_tty;
+    }
+    ser->off_rx = ret;
+
+    if (ser->max_tx_data_size > 0) {
+        ser->tx_data = kmalloc(ser->max_tx_data_size, GFP_KERNEL);
+        if (ser->tx_data == NULL) {
+            ret = -ENOMEM;
+            goto out_free_tty;
+        }
+    }
+
+    return 0;
+
+out_free_tty:
+    ectty_free(ser->tty);
+out_return:
+    return ret;
+}
+
+/****************************************************************************/
+
+void el6002_clear(el6002_t *ser)
+{
+    ectty_free(ser->tty);
+    if (ser->tx_data) {
+        kfree(ser->tx_data);
+    }
+}
+
+/****************************************************************************/
+
+void el6002_run(el6002_t *ser, u8 *pd)
+{
+    u16 status = EC_READ_U16(pd + ser->off_status);
+    u8 *rx_data = pd + ser->off_rx;
+    uint8_t tx_accepted_toggle, rx_request_toggle;
+
+    switch (ser->state) {
+        case SER_READY:
+
+            /* Send data */
+            
+            tx_accepted_toggle = status & 0x0001;
+            if (tx_accepted_toggle != ser->tx_accepted_toggle) { // ready
+                ser->tx_data_size =
+                    ectty_tx_data(ser->tty, ser->tx_data, ser->max_tx_data_size);
+                if (ser->tx_data_size) {
+                    printk(KERN_INFO PFX "Sending %u bytes.\n", ser->tx_data_size);
+                    ser->tx_request_toggle = !ser->tx_request_toggle;
+                    ser->tx_accepted_toggle = tx_accepted_toggle;
+                }
+            }
+
+            /* Receive data */
+
+            rx_request_toggle = status & 0x0002;
+            if (rx_request_toggle != ser->rx_request_toggle) {
+                uint8_t rx_data_size = status >> 8;
+                ser->rx_request_toggle = rx_request_toggle;
+                printk(KERN_INFO PFX "Received %u bytes.\n", rx_data_size);
+                ectty_rx_data(ser->tty, rx_data, rx_data_size);
+                ser->rx_accepted_toggle = !ser->rx_accepted_toggle;
+            }
+
+            ser->control =
+                ser->tx_request_toggle |
+                ser->rx_accepted_toggle << 1 |
+                ser->tx_data_size << 8;
+            break;
+
+        case SER_REQUEST_INIT:
+            if (status & (1 << 2)) {
+                ser->control = 0x0000;
+                ser->state = SER_WAIT_FOR_INIT_RESPONSE;
+            } else {
+                ser->control = 1 << 2; // CW.2, request initialization
+            }
+            break;
+
+        case SER_WAIT_FOR_INIT_RESPONSE:
+            if (!(status & (1 << 2))) {
+                printk(KERN_INFO PFX "Init successful.\n");
+                ser->tx_accepted_toggle = 1;
+                ser->control = 0x0000;
+                ser->state = SER_READY;
+            }
+            break;
+    }
+
+    EC_WRITE_U16(pd + ser->off_ctrl, ser->control);
+    memcpy(pd + ser->off_tx, ser->tx_data, ser->tx_data_size);
+}
+
+/*****************************************************************************/
+
+void run_serial_devices(u8 *pd)
+{
+    el6002_t *ser;
+
+    list_for_each_entry(ser, &handlers, list) {
+        el6002_run(ser, pd);
+    }
+}
+
+/*****************************************************************************/
+
+int create_serial_devices(ec_master_t *master, ec_domain_t *domain)
+{
+    int i, ret;
+    ec_master_info_t master_info;
+    ec_slave_info_t slave_info;
+    el6002_t *ser, *next;
+
+    printk(KERN_INFO PFX "Registering serial devices...\n");
+
+    ret = ecrt_master(master, &master_info);
+    if (ret) {
+        printk(KERN_ERR PFX "Failed to obtain master information.\n");
+        goto out_return;
+    }
+
+    for (i = 0; i < master_info.slave_count; i++) {
+        ret = ecrt_master_get_slave(master, i, &slave_info);
+        if (ret) {
+            printk(KERN_ERR PFX "Failed to obtain slave information.\n");
+            goto out_free_handlers;
+        }
+
+        if (slave_info.vendor_id != VendorIdBeckhoff
+                || slave_info.product_code != ProductCodeBeckhoffEL6002) {
+            continue;
+        }
+
+        printk(KERN_INFO PFX "Creating handler for serial device"
+                " at position %i\n", i);
+
+        ser = kmalloc(sizeof(*ser), GFP_KERNEL);
+        if (!ser) {
+            printk(KERN_ERR PFX "Failed to allocate serial device object.\n");
+            ret = -ENOMEM;
+            goto out_free_handlers;
+        }
+
+        ret = el6002_init(ser, master, i, domain);
+        if (ret) {
+            printk(KERN_ERR PFX "Failed to init serial device object.\n");
+            kfree(ser);
+            goto out_free_handlers;
+        }
+
+        list_add_tail(&ser->list, &handlers);
+    }
+
+
+    printk(KERN_INFO PFX "Finished.\n");
+    return 0;
+
+out_free_handlers:
+    list_for_each_entry_safe(ser, next, &handlers, list) {
+        list_del(&ser->list);
+        el6002_clear(ser);
+        kfree(ser);
+    }
+out_return:
+    return ret;
+}
+
+/*****************************************************************************/
+
+void free_serial_devices(void)
+{
+    el6002_t *ser, *next;
+
+    printk(KERN_INFO PFX "Cleaning up serial devices...\n");
+
+    list_for_each_entry_safe(ser, next, &handlers, list) {
+        list_del(&ser->list);
+        el6002_clear(ser);
+        kfree(ser);
+    }
+
+    printk(KERN_INFO PFX "Finished cleaning up serial devices.\n");
+}
+
+/*****************************************************************************/
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/tty/serial.h	Thu Jan 21 11:10:22 2010 +0100
@@ -0,0 +1,35 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU General Public License version 2, as
+ *  published by the Free Software Foundation.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
+ *  Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License along
+ *  with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  ---
+ *
+ *  The license mentioned above concerns the source code only. Using the
+ *  EtherCAT technology and brand is only permitted in compliance with the
+ *  industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ *****************************************************************************/
+
+int create_serial_devices(ec_master_t *, ec_domain_t *);
+void free_serial_devices(void);
+
+void run_serial_devices(u8 *);
+
+/*****************************************************************************/
--- a/examples/tty/tty.c	Thu Jan 21 11:09:31 2010 +0100
+++ b/examples/tty/tty.c	Thu Jan 21 11:10:22 2010 +0100
@@ -40,7 +40,8 @@
 #endif
 
 #include "../../include/ecrt.h" // EtherCAT realtime interface
-#include "../../include/ectty.h" // EtherCAT TTY interface
+
+#include "serial.h"
 
 /*****************************************************************************/
 
@@ -70,264 +71,11 @@
 static uint8_t *domain1_pd; // process data memory
 
 #define BusCouplerPos  0, 0
-#define SerialPos      0, 1
 
 #define Beckhoff_EK1100 0x00000002, 0x044c2c52
-#define Beckhoff_EL6002 0x00000002, 0x17723052
-
-// offsets for PDO entries
-static unsigned int off_ctrl;
-static unsigned int off_tx;
-static unsigned int off_status;
-static unsigned int off_rx;
-
-const static ec_pdo_entry_reg_t domain1_regs[] = {
-    {SerialPos,  Beckhoff_EL6002, 0x7001, 0x01, &off_ctrl},
-    {SerialPos,  Beckhoff_EL6002, 0x7000, 0x11, &off_tx},
-    {SerialPos,  Beckhoff_EL6002, 0x6001, 0x01, &off_status},
-    {SerialPos,  Beckhoff_EL6002, 0x6000, 0x11, &off_rx},
-    {}
-};
 
 static unsigned int counter = 0;
 
-typedef enum {
-    SER_REQUEST_INIT,
-    SER_WAIT_FOR_INIT_RESPONSE,
-    SER_READY
-} serial_state_t;
-
-typedef struct {
-    size_t max_tx_data_size;
-    size_t max_rx_data_size;
-
-    uint8_t *tx_data;
-    uint8_t tx_data_size;
-
-    serial_state_t state;
-
-    uint8_t tx_request_toggle;
-    uint8_t tx_accepted_toggle;
-
-    uint8_t rx_request_toggle;
-    uint8_t rx_accepted_toggle;
-
-    uint16_t control;
-} serial_device_t;
-
-static serial_device_t *ser = NULL;
-static ec_tty_t *tty = NULL;
-        
-/*****************************************************************************/
-
-/* Slave 1, "EL6002"
- * Vendor ID:       0x00000002
- * Product code:    0x17723052
- * Revision number: 0x00100000
- */
-
-ec_pdo_entry_info_t slave_1_pdo_entries[] = {
-   {0x7001, 0x01, 16}, /* Ctrl */
-   {0x7000, 0x11, 8}, /* Data Out 0 */
-   {0x7000, 0x12, 8}, /* Data Out 1 */
-   {0x7000, 0x13, 8}, /* Data Out 2 */
-   {0x7000, 0x14, 8}, /* Data Out 3 */
-   {0x7000, 0x15, 8}, /* Data Out 4 */
-   {0x7000, 0x16, 8}, /* Data Out 5 */
-   {0x7000, 0x17, 8}, /* Data Out 6 */
-   {0x7000, 0x18, 8}, /* Data Out 7 */
-   {0x7000, 0x19, 8}, /* Data Out 8 */
-   {0x7000, 0x1a, 8}, /* Data Out 9 */
-   {0x7000, 0x1b, 8}, /* Data Out 10 */
-   {0x7000, 0x1c, 8}, /* Data Out 11 */
-   {0x7000, 0x1d, 8}, /* Data Out 12 */
-   {0x7000, 0x1e, 8}, /* Data Out 13 */
-   {0x7000, 0x1f, 8}, /* Data Out 14 */
-   {0x7000, 0x20, 8}, /* Data Out 15 */
-   {0x7000, 0x21, 8}, /* Data Out 16 */
-   {0x7000, 0x22, 8}, /* Data Out 17 */
-   {0x7000, 0x23, 8}, /* Data Out 18 */
-   {0x7000, 0x24, 8}, /* Data Out 19 */
-   {0x7000, 0x25, 8}, /* Data Out 20 */
-   {0x7000, 0x26, 8}, /* Data Out 21 */
-   {0x7011, 0x01, 16}, /* Ctrl */
-   {0x7010, 0x11, 8}, /* Data Out 0 */
-   {0x7010, 0x12, 8}, /* Data Out 1 */
-   {0x7010, 0x13, 8}, /* Data Out 2 */
-   {0x7010, 0x14, 8}, /* Data Out 3 */
-   {0x7010, 0x15, 8}, /* Data Out 4 */
-   {0x7010, 0x16, 8}, /* Data Out 5 */
-   {0x7010, 0x17, 8}, /* Data Out 6 */
-   {0x7010, 0x18, 8}, /* Data Out 7 */
-   {0x7010, 0x19, 8}, /* Data Out 8 */
-   {0x7010, 0x1a, 8}, /* Data Out 9 */
-   {0x7010, 0x1b, 8}, /* Data Out 10 */
-   {0x7010, 0x1c, 8}, /* Data Out 11 */
-   {0x7010, 0x1d, 8}, /* Data Out 12 */
-   {0x7010, 0x1e, 8}, /* Data Out 13 */
-   {0x7010, 0x1f, 8}, /* Data Out 14 */
-   {0x7010, 0x20, 8}, /* Data Out 15 */
-   {0x7010, 0x21, 8}, /* Data Out 16 */
-   {0x7010, 0x22, 8}, /* Data Out 17 */
-   {0x7010, 0x23, 8}, /* Data Out 18 */
-   {0x7010, 0x24, 8}, /* Data Out 19 */
-   {0x7010, 0x25, 8}, /* Data Out 20 */
-   {0x7010, 0x26, 8}, /* Data Out 21 */
-   {0x6001, 0x01, 16}, /* Status */
-   {0x6000, 0x11, 8}, /* Data In 0 */
-   {0x6000, 0x12, 8}, /* Data In 1 */
-   {0x6000, 0x13, 8}, /* Data In 2 */
-   {0x6000, 0x14, 8}, /* Data In 3 */
-   {0x6000, 0x15, 8}, /* Data In 4 */
-   {0x6000, 0x16, 8}, /* Data In 5 */
-   {0x6000, 0x17, 8}, /* Data In 6 */
-   {0x6000, 0x18, 8}, /* Data In 7 */
-   {0x6000, 0x19, 8}, /* Data In 8 */
-   {0x6000, 0x1a, 8}, /* Data In 9 */
-   {0x6000, 0x1b, 8}, /* Data In 10 */
-   {0x6000, 0x1c, 8}, /* Data In 11 */
-   {0x6000, 0x1d, 8}, /* Data In 12 */
-   {0x6000, 0x1e, 8}, /* Data In 13 */
-   {0x6000, 0x1f, 8}, /* Data In 14 */
-   {0x6000, 0x20, 8}, /* Data In 15 */
-   {0x6000, 0x21, 8}, /* Data In 16 */
-   {0x6000, 0x22, 8}, /* Data In 17 */
-   {0x6000, 0x23, 8}, /* Data In 18 */
-   {0x6000, 0x24, 8}, /* Data In 19 */
-   {0x6000, 0x25, 8}, /* Data In 20 */
-   {0x6000, 0x26, 8}, /* Data In 21 */
-   {0x6011, 0x01, 16}, /* Status */
-   {0x6010, 0x11, 8}, /* Data In 0 */
-   {0x6010, 0x12, 8}, /* Data In 1 */
-   {0x6010, 0x13, 8}, /* Data In 2 */
-   {0x6010, 0x14, 8}, /* Data In 3 */
-   {0x6010, 0x15, 8}, /* Data In 4 */
-   {0x6010, 0x16, 8}, /* Data In 5 */
-   {0x6010, 0x17, 8}, /* Data In 6 */
-   {0x6010, 0x18, 8}, /* Data In 7 */
-   {0x6010, 0x19, 8}, /* Data In 8 */
-   {0x6010, 0x1a, 8}, /* Data In 9 */
-   {0x6010, 0x1b, 8}, /* Data In 10 */
-   {0x6010, 0x1c, 8}, /* Data In 11 */
-   {0x6010, 0x1d, 8}, /* Data In 12 */
-   {0x6010, 0x1e, 8}, /* Data In 13 */
-   {0x6010, 0x1f, 8}, /* Data In 14 */
-   {0x6010, 0x20, 8}, /* Data In 15 */
-   {0x6010, 0x21, 8}, /* Data In 16 */
-   {0x6010, 0x22, 8}, /* Data In 17 */
-   {0x6010, 0x23, 8}, /* Data In 18 */
-   {0x6010, 0x24, 8}, /* Data In 19 */
-   {0x6010, 0x25, 8}, /* Data In 20 */
-   {0x6010, 0x26, 8}, /* Data In 21 */
-};
-
-ec_pdo_info_t slave_1_pdos[] = {
-   {0x1604, 23, slave_1_pdo_entries + 0}, /* COM RxPDO-Map Outputs Ch.1 */
-   {0x1605, 23, slave_1_pdo_entries + 23}, /* COM RxPDO-Map Outputs Ch.2 */
-   {0x1a04, 23, slave_1_pdo_entries + 46}, /* COM TxPDO-Map Inputs Ch.1 */
-   {0x1a05, 23, slave_1_pdo_entries + 69}, /* COM TxPDO-Map Inputs Ch.2 */
-};
-
-ec_sync_info_t slave_1_syncs[] = {
-   {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
-   {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
-   {2, EC_DIR_OUTPUT, 2, slave_1_pdos + 0, EC_WD_DISABLE},
-   {3, EC_DIR_INPUT, 2, slave_1_pdos + 2, EC_WD_DISABLE},
-   {0xff}
-};
-
-/****************************************************************************/
-
-int serial_init(serial_device_t *ser, size_t max_tx, size_t max_rx)
-{
-    ser->max_tx_data_size = max_tx;
-    ser->max_rx_data_size = max_rx;
-    ser->tx_data = NULL;
-    ser->tx_data_size = 0;
-    ser->state = SER_REQUEST_INIT;
-    ser->tx_request_toggle = 0;
-    ser->rx_accepted_toggle = 0;
-    ser->control = 0x0000;
-
-    if (max_tx > 0) {
-        ser->tx_data = kmalloc(max_tx, GFP_KERNEL);
-        if (ser->tx_data == NULL) {
-            return -ENOMEM;
-        }
-    }
-
-    return 0;
-}
-
-/****************************************************************************/
-
-void serial_clear(serial_device_t *ser)
-{
-    if (ser->tx_data) {
-        kfree(ser->tx_data);
-    }
-}
-
-/****************************************************************************/
-
-void serial_run(serial_device_t *ser, uint16_t status, uint8_t *rx_data)
-{
-    uint8_t tx_accepted_toggle, rx_request_toggle;
-
-    switch (ser->state) {
-        case SER_READY:
-
-            /* Send data */
-            
-            tx_accepted_toggle = status & 0x0001;
-            if (tx_accepted_toggle != ser->tx_accepted_toggle) { // ready
-                ser->tx_data_size =
-                    ectty_tx_data(tty, ser->tx_data, ser->max_tx_data_size);
-                if (ser->tx_data_size) {
-                    printk(KERN_INFO PFX "Sending %u bytes.\n", ser->tx_data_size);
-                    ser->tx_request_toggle = !ser->tx_request_toggle;
-                    ser->tx_accepted_toggle = tx_accepted_toggle;
-                }
-            }
-
-            /* Receive data */
-
-            rx_request_toggle = status & 0x0002;
-            if (rx_request_toggle != ser->rx_request_toggle) {
-                uint8_t rx_data_size = status >> 8;
-                ser->rx_request_toggle = rx_request_toggle;
-                printk(KERN_INFO PFX "Received %u bytes.\n", rx_data_size);
-                ectty_rx_data(tty, rx_data, rx_data_size);
-                ser->rx_accepted_toggle = !ser->rx_accepted_toggle;
-            }
-
-            ser->control =
-                ser->tx_request_toggle |
-                ser->rx_accepted_toggle << 1 |
-                ser->tx_data_size << 8;
-            break;
-
-        case SER_REQUEST_INIT:
-            if (status & (1 << 2)) {
-                ser->control = 0x0000;
-                ser->state = SER_WAIT_FOR_INIT_RESPONSE;
-            } else {
-                ser->control = 1 << 2; // CW.2, request initialization
-            }
-            break;
-
-        case SER_WAIT_FOR_INIT_RESPONSE:
-            if (!(status & (1 << 2))) {
-                printk(KERN_INFO PFX "Init successful.\n");
-                ser->tx_accepted_toggle = 1;
-                ser->control = 0x0000;
-                ser->state = SER_READY;
-            }
-            break;
-    }
-
-}
-
 /*****************************************************************************/
 
 void check_domain1_state(void)
@@ -388,9 +136,7 @@
         check_master_state();
     }
 
-    serial_run(ser, EC_READ_U16(domain1_pd + off_status), domain1_pd + off_rx);
-    EC_WRITE_U16(domain1_pd + off_ctrl, ser->control);
-    memcpy(domain1_pd + off_tx, ser->tx_data, 22);
+    run_serial_devices(domain1_pd);
 
     // send process data
     down(&master_sem);
@@ -432,31 +178,11 @@
     
     printk(KERN_INFO PFX "Starting...\n");
 
-    ser = kmalloc(sizeof(*ser), GFP_KERNEL);
-    if (!ser) {
-        printk(KERN_ERR PFX "Failed to allocate serial device object.\n");
-        ret = -ENOMEM;
-        goto out_return;
-    }
-
-    ret = serial_init(ser, 22, 22);
-    if (ret) {
-        printk(KERN_ERR PFX "Failed to init serial device object.\n");
-        goto out_free_serial;
-    }
-
-    tty = ectty_create();
-    if (IS_ERR(tty)) {
-        printk(KERN_ERR PFX "Failed to create tty.\n");
-        ret = PTR_ERR(tty);
-        goto out_serial;
-    }
-    
     master = ecrt_request_master(0);
     if (!master) {
+        printk(KERN_ERR PFX "Requesting master 0 failed.\n");
         ret = -EBUSY; 
-        printk(KERN_ERR PFX "Requesting master 0 failed.\n");
-        goto out_tty;
+        goto out_return;
     }
 
     sema_init(&master_sem, 1);
@@ -470,30 +196,18 @@
 
     // Create configuration for bus coupler
     sc = ecrt_master_slave_config(master, BusCouplerPos, Beckhoff_EK1100);
-    if (!sc)
-        return -1;
-
-    if (!(sc = ecrt_master_slave_config(
-                    master, SerialPos, Beckhoff_EL6002))) {
-        printk(KERN_ERR PFX "Failed to get slave configuration.\n");
-        return -1;
-    }
-
-    printk("Configuring PDOs...\n");
-    if (ecrt_slave_config_pdos(sc, EC_END, slave_1_syncs)) {
-        printk(KERN_ERR PFX "Failed to configure PDOs.\n");
-        return -1;
-    }
-
-    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
-        printk(KERN_ERR PFX "PDO entry registration failed!\n");
-        return -1;
-    }
+    if (!sc) {
+        printk(KERN_ERR PFX "Failed to create slave config.\n");
+        ret = -ENOMEM;
+        goto out_release_master;
+    }
+
+    create_serial_devices(master, domain1);
 
     printk(KERN_INFO PFX "Activating master...\n");
     if (ecrt_master_activate(master)) {
         printk(KERN_ERR PFX "Failed to activate master!\n");
-        goto out_release_master;
+        goto out_free_serial;
     }
 
     // Get internal process data for domain
@@ -508,15 +222,11 @@
     printk(KERN_INFO PFX "Started.\n");
     return 0;
 
+out_free_serial:
+    free_serial_devices();
 out_release_master:
     printk(KERN_ERR PFX "Releasing master...\n");
     ecrt_release_master(master);
-out_tty:
-    ectty_free(tty);
-out_serial:
-    serial_clear(ser);
-out_free_serial:
-    kfree(ser);
 out_return:
     printk(KERN_ERR PFX "Failed to load. Aborting.\n");
     return ret;
@@ -530,13 +240,11 @@
 
     del_timer_sync(&timer);
 
+    free_serial_devices();
+
     printk(KERN_INFO PFX "Releasing master...\n");
     ecrt_release_master(master);
 
-    ectty_free(tty);
-    serial_clear(ser);
-    kfree(ser);
-
     printk(KERN_INFO PFX "Unloading.\n");
 }
 
--- a/include/ecrt.h	Thu Jan 21 11:09:31 2010 +0100
+++ b/include/ecrt.h	Thu Jan 21 11:10:22 2010 +0100
@@ -208,8 +208,6 @@
 
 /*****************************************************************************/
 
-#ifndef __KERNEL__
-
 /** Master information.
  *
  * This is used as an output parameter of ecrt_master().
@@ -246,8 +244,6 @@
     char name[EC_MAX_STRING_LENGTH]; /**< Name of the slave. */
 } ec_slave_info_t;
 
-#endif // #ifndef __KERNEL__
-
 /*****************************************************************************/
 
 /** Domain working counter interpretation.
@@ -539,8 +535,6 @@
         uint32_t product_code /**< Expected product code. */
         );
 
-#ifndef __KERNEL__
-
 /** Obtains master information.
  *
  * No memory is allocated on the heap in
@@ -573,6 +567,8 @@
                                       information */
         );
 
+#ifndef __KERNEL__
+
 /** Returns the proposed configuration of a slave's sync manager.
  *
  * Fills a given ec_sync_info_t structure with the attributes of a sync
--- a/lib/master.c	Thu Jan 21 11:09:31 2010 +0100
+++ b/lib/master.c	Thu Jan 21 11:10:22 2010 +0100
@@ -156,7 +156,7 @@
     slave_info->error_flag = data.error_flag;
     slave_info->sync_count = data.sync_count;
     slave_info->sdo_count = data.sdo_count;
-    strncpy(slave_info->name, data.name, EC_IOCTL_STRING_SIZE);
+    strncpy(slave_info->name, data.name, EC_MAX_STRING_LENGTH);
     return 0;
 }
 
--- a/master/fsm_slave_scan.c	Thu Jan 21 11:09:31 2010 +0100
+++ b/master/fsm_slave_scan.c	Thu Jan 21 11:10:22 2010 +0100
@@ -770,19 +770,14 @@
     }
 
     if (datagram->working_counter != 1) {
-        fsm->slave->error_flag = 1;
-        fsm->state = ec_fsm_slave_scan_state_error;
-        EC_ERR("Failed to read reg alias of slave %u: ",
-               fsm->slave->ring_position);
-        ec_datagram_print_wc_error(datagram);
-        return;
-    }
-
-    slave->sii.alias = EC_READ_U16(datagram->data);
-    if (slave->master->debug_level)
-         EC_DBG("Alias of slave %u is %u.\n",
-                 slave->ring_position,slave->sii.alias);
-
+        EC_WARN("Failed to read reg alias of slave %u.\n",
+        fsm->slave->ring_position);
+    } else {
+        slave->sii.alias = EC_READ_U16(datagram->data);
+        if (slave->master->debug_level)
+            EC_DBG("Alias of slave %u is %u.\n",
+        slave->ring_position,slave->sii.alias);
+    }
     if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
         ec_fsm_slave_scan_enter_preop(fsm);
     } else {
--- a/master/globals.h	Thu Jan 21 11:09:31 2010 +0100
+++ b/master/globals.h	Thu Jan 21 11:10:22 2010 +0100
@@ -51,8 +51,11 @@
 /** SDO injection timeout in microseconds. */
 #define EC_SDO_INJECTION_TIMEOUT 10000
 
-/** time to send a byte in nanoseconds. */
-#define EC_BYTE_TRANSMITION_TIME 80
+/** Time to send a byte in nanoseconds.
+ *
+ * t_ns = 1 / (100 MBit/s / 8 bit/byte) = 80 ns/byte
+ */
+#define EC_BYTE_TRANSMISSION_TIME_NS 80
 
 /** Number of state machine retries on datagram timeout. */
 #define EC_FSM_RETRIES 3
--- a/master/master.c	Thu Jan 21 11:09:31 2010 +0100
+++ b/master/master.c	Thu Jan 21 11:10:22 2010 +0100
@@ -159,7 +159,9 @@
     sema_init(&master->ext_queue_sem, 1);
 
     INIT_LIST_HEAD(&master->external_datagram_queue);
-	ec_master_set_send_interval(master,1000000 / HZ); // send interval in IDLE phase
+    
+    // send interval in IDLE phase
+    ec_master_set_send_interval(master, 1000000 / HZ);
 
     INIT_LIST_HEAD(&master->domains);
 
@@ -373,35 +375,35 @@
     // external requests are obsolete, so we wake pending waiters and remove
     // them from the list
     //
-	// SII requests
-	while (1) {
-		ec_sii_write_request_t *request;
-		if (list_empty(&master->sii_requests))
-			break;
-		// get first request
+    // SII requests
+    while (1) {
+        ec_sii_write_request_t *request;
+        if (list_empty(&master->sii_requests))
+            break;
+        // get first request
         request = list_entry(master->sii_requests.next,
                 ec_sii_write_request_t, list);
-		list_del_init(&request->list); // dequeue
-		EC_INFO("Discarding SII request, slave %u does not exist anymore.\n",
-				request->slave->ring_position);
-		request->state = EC_INT_REQUEST_FAILURE;
-		wake_up(&master->sii_queue);
-	}
-
-	// Register requests
-	while (1) {
-	    ec_reg_request_t *request;
-		if (list_empty(&master->reg_requests))
-			break;
-		// get first request
-		request = list_entry(master->reg_requests.next,
-				ec_reg_request_t, list);
-		list_del_init(&request->list); // dequeue
-		EC_INFO("Discarding Reg request, slave %u does not exist anymore.\n",
-				request->slave->ring_position);
-		request->state = EC_INT_REQUEST_FAILURE;
-		wake_up(&master->reg_queue);
-	}
+        list_del_init(&request->list); // dequeue
+        EC_INFO("Discarding SII request, slave %u does not exist anymore.\n",
+                request->slave->ring_position);
+        request->state = EC_INT_REQUEST_FAILURE;
+        wake_up(&master->sii_queue);
+    }
+
+    // Register requests
+    while (1) {
+        ec_reg_request_t *request;
+        if (list_empty(&master->reg_requests))
+            break;
+        // get first request
+        request = list_entry(master->reg_requests.next,
+                ec_reg_request_t, list);
+        list_del_init(&request->list); // dequeue
+        EC_INFO("Discarding Reg request, slave %u does not exist anymore.\n",
+                request->slave->ring_position);
+        request->state = EC_INT_REQUEST_FAILURE;
+        wake_up(&master->reg_queue);
+    }
 
     for (slave = master->slaves;
             slave < master->slaves + master->slave_count;
@@ -689,84 +691,100 @@
 
 /*****************************************************************************/
 
-/** Injects external datagrams that fit into the datagram queue
+/** Injects external datagrams that fit into the datagram queue.
  */
 void ec_master_inject_external_datagrams(
-		ec_master_t *master /**< EtherCAT master */
-		)
-{
-	ec_datagram_t *datagram, *n;
-	size_t queue_size = 0;
-	list_for_each_entry(datagram, &master->datagram_queue, queue) {
-		queue_size += datagram->data_size;
-	}
-	list_for_each_entry_safe(datagram, n, &master->external_datagram_queue, queue) {
-		queue_size += datagram->data_size;
-		if (queue_size <= master->max_queue_size) {
-			list_del_init(&datagram->queue);
+        ec_master_t *master /**< EtherCAT master */
+        )
+{
+    ec_datagram_t *datagram, *n;
+    size_t queue_size = 0;
+
+    list_for_each_entry(datagram, &master->datagram_queue, queue) {
+        queue_size += datagram->data_size;
+    }
+
+    list_for_each_entry_safe(datagram, n, &master->external_datagram_queue,
+            queue) {
+        queue_size += datagram->data_size;
+        if (queue_size <= master->max_queue_size) {
+            list_del_init(&datagram->queue);
 #if DEBUG_INJECT
-			if (master->debug_level) {
-				EC_DBG("Injecting external datagram %08x size=%u, queue_size=%u\n",(unsigned int)datagram,datagram->data_size,queue_size);
-			}
+            if (master->debug_level) {
+                EC_DBG("Injecting external datagram %08x size=%u,"
+                        " queue_size=%u\n", (unsigned int) datagram,
+                        datagram->data_size, queue_size);
+            }
 #endif
 #ifdef EC_HAVE_CYCLES
-			datagram->cycles_sent = 0;
-#endif
-			datagram->jiffies_sent = 0;
-			ec_master_queue_datagram(master, datagram);
-		}
-		else {
-			if (datagram->data_size > master->max_queue_size) {
-				list_del_init(&datagram->queue);
-				datagram->state = EC_DATAGRAM_ERROR;
-				EC_ERR("External datagram %08x is too large, size=%u, max_queue_size=%u\n",(unsigned int)datagram,datagram->data_size,master->max_queue_size);
-			}
-			else {
+            datagram->cycles_sent = 0;
+#endif
+            datagram->jiffies_sent = 0;
+            ec_master_queue_datagram(master, datagram);
+        }
+        else {
+            if (datagram->data_size > master->max_queue_size) {
+                list_del_init(&datagram->queue);
+                datagram->state = EC_DATAGRAM_ERROR;
+                EC_ERR("External datagram %p is too large,"
+                        " size=%u, max_queue_size=%u\n",
+                        datagram, datagram->data_size,
+                        master->max_queue_size);
+            } else {
 #ifdef EC_HAVE_CYCLES
-				cycles_t cycles_now = get_cycles();
-				if (cycles_now - datagram->cycles_sent
-						> sdo_injection_timeout_cycles) {
+                cycles_t cycles_now = get_cycles();
+
+                if (cycles_now - datagram->cycles_sent
+                        > sdo_injection_timeout_cycles)
 #else
-				if (jiffies - datagram->jiffies_sent
-						> sdo_injection_timeout_jiffies) {
-#endif
-					unsigned int time_us;
-					list_del_init(&datagram->queue);
-					datagram->state = EC_DATAGRAM_ERROR;
+                if (jiffies - datagram->jiffies_sent
+                        > sdo_injection_timeout_jiffies)
+#endif
+                {
+                    unsigned int time_us;
+
+                    list_del_init(&datagram->queue);
+                    datagram->state = EC_DATAGRAM_ERROR;
 #ifdef EC_HAVE_CYCLES
-					time_us = (unsigned int) ((cycles_now - datagram->cycles_sent) * 1000LL) / cpu_khz;
+                    time_us = (unsigned int)
+                        ((cycles_now - datagram->cycles_sent) * 1000LL)
+                        / cpu_khz;
 #else
-					time_us = (unsigned int) ((jiffies - datagram->jiffies_sent) * 1000000 / HZ);
-#endif
-					EC_ERR("Timeout %u us: injecting external datagram %08x size=%u, max_queue_size=%u\n",time_us,(unsigned int)datagram,datagram->data_size,master->max_queue_size);
-				}
-				else  {
+                    time_us = (unsigned int)
+                        ((jiffies - datagram->jiffies_sent) * 1000000 / HZ);
+#endif
+                    EC_ERR("Timeout %u us: injecting external datagram %p"
+                            " size=%u, max_queue_size=%u\n",
+                            time_us, datagram,
+                            datagram->data_size, master->max_queue_size);
+                }
 #if DEBUG_INJECT
-					if (master->debug_level) {
-						EC_DBG("Deferred injecting of external datagram %08x size=%u, queue_size=%u\n",(unsigned int)datagram,datagram->data_size,queue_size);
-					}
-#endif
-				}
-			}
-		}
-	}
-}
-
-/*****************************************************************************/
-
-/** sets the expected interval between calls to ecrt_master_send
-	and calculates the maximum amount of data to queue
+                else if (master->debug_level) {
+                    EC_DBG("Deferred injecting of external datagram %p"
+                            " size=%u, queue_size=%u\n",
+                            datagram, datagram->data_size, queue_size);
+                }
+#endif
+            }
+        }
+    }
+}
+
+/*****************************************************************************/
+
+/** Sets the expected interval between calls to ecrt_master_send
+ * and calculates the maximum amount of data to queue.
  */
 void ec_master_set_send_interval(
-		ec_master_t *master, /**< EtherCAT master */
-		size_t send_interval /**< send interval */
-		)
-{
-	master->send_interval = send_interval;
-	master->max_queue_size = (send_interval * 1000) / EC_BYTE_TRANSMITION_TIME;
-	master->max_queue_size -= master->max_queue_size / 10;
-}
-
+        ec_master_t *master, /**< EtherCAT master */
+        size_t send_interval /**< Send interval */
+        )
+{
+    master->send_interval = send_interval;
+    master->max_queue_size =
+        (send_interval * 1000) / EC_BYTE_TRANSMISSION_TIME_NS;
+    master->max_queue_size -= master->max_queue_size / 10;
+}
 
 /*****************************************************************************/
 
@@ -780,18 +798,23 @@
 	ec_datagram_t *queued_datagram;
 
     down(&master->io_sem);
+
 	// check, if the datagram is already queued
-	list_for_each_entry(queued_datagram, &master->external_datagram_queue, queue) {
+	list_for_each_entry(queued_datagram, &master->external_datagram_queue,
+            queue) {
 		if (queued_datagram == datagram) {
 			datagram->state = EC_DATAGRAM_QUEUED;
 			return;
 		}
 	}
+
 #if DEBUG_INJECT
 	if (master->debug_level) {
-		EC_DBG("Requesting external datagram %08x size=%u\n",(unsigned int)datagram,datagram->data_size);
+		EC_DBG("Requesting external datagram %p size=%u\n",
+                datagram, datagram->data_size);
 	}
 #endif
+
 	list_add_tail(&datagram->queue, &master->external_datagram_queue);
 	datagram->state = EC_DATAGRAM_QUEUED;
 #ifdef EC_HAVE_CYCLES
@@ -1116,66 +1139,79 @@
 
 
 /*****************************************************************************/
+
+#ifdef EC_USE_HRTIMER
+
 /*
  * Sleep related functions:
  */
 static enum hrtimer_restart ec_master_nanosleep_wakeup(struct hrtimer *timer)
 {
-	struct hrtimer_sleeper *t =
-		container_of(timer, struct hrtimer_sleeper, timer);
-	struct task_struct *task = t->task;
-
-	t->task = NULL;
-	if (task)
-		wake_up_process(task);
-
-	return HRTIMER_NORESTART;
-}
+    struct hrtimer_sleeper *t =
+        container_of(timer, struct hrtimer_sleeper, timer);
+    struct task_struct *task = t->task;
+
+    t->task = NULL;
+    if (task)
+        wake_up_process(task);
+
+    return HRTIMER_NORESTART;
+}
+
+/*****************************************************************************/
 
 #if LINUX_VERSION_CODE < KERNEL_VERSION(2,6,28)
+
 /* compatibility with new hrtimer interface */
 static inline ktime_t hrtimer_get_expires(const struct hrtimer *timer)
 {
-	return timer->expires;
-}
+    return timer->expires;
+}
+
+/*****************************************************************************/
 
 static inline void hrtimer_set_expires(struct hrtimer *timer, ktime_t time)
 {
-	timer->expires = time;
-}
-#endif
-
+    timer->expires = time;
+}
+
+#endif
+
+/*****************************************************************************/
 
 void ec_master_nanosleep(const unsigned long nsecs)
 {
-	struct hrtimer_sleeper t;
-	enum hrtimer_mode mode = HRTIMER_MODE_REL;
-	hrtimer_init(&t.timer, CLOCK_MONOTONIC,mode);
-	t.timer.function = ec_master_nanosleep_wakeup;
-	t.task = current;
+    struct hrtimer_sleeper t;
+    enum hrtimer_mode mode = HRTIMER_MODE_REL;
+
+    hrtimer_init(&t.timer, CLOCK_MONOTONIC, mode);
+    t.timer.function = ec_master_nanosleep_wakeup;
+    t.task = current;
 #ifdef CONFIG_HIGH_RES_TIMERS
 #if LINUX_VERSION_CODE <= KERNEL_VERSION(2, 6, 24)
-	t.timer.cb_mode = HRTIMER_CB_IRQSAFE_NO_RESTART;
+    t.timer.cb_mode = HRTIMER_CB_IRQSAFE_NO_RESTART;
 #elif LINUX_VERSION_CODE <= KERNEL_VERSION(2, 6, 26)
-	t.timer.cb_mode = HRTIMER_CB_IRQSAFE_NO_SOFTIRQ;
+    t.timer.cb_mode = HRTIMER_CB_IRQSAFE_NO_SOFTIRQ;
 #elif LINUX_VERSION_CODE <= KERNEL_VERSION(2, 6, 28)
-	t.timer.cb_mode = HRTIMER_CB_IRQSAFE_UNLOCKED;
-#endif
-#endif
-	hrtimer_set_expires(&t.timer, ktime_set(0,nsecs));
-	do {
-		set_current_state(TASK_INTERRUPTIBLE);
-		hrtimer_start(&t.timer, hrtimer_get_expires(&t.timer), mode);
-
-		if (likely(t.task))
-			schedule();
-
-		hrtimer_cancel(&t.timer);
-		mode = HRTIMER_MODE_ABS;
-
-	} while (t.task && !signal_pending(current));
-}
-
+    t.timer.cb_mode = HRTIMER_CB_IRQSAFE_UNLOCKED;
+#endif
+#endif
+    hrtimer_set_expires(&t.timer, ktime_set(0, nsecs));
+
+    do {
+        set_current_state(TASK_INTERRUPTIBLE);
+        hrtimer_start(&t.timer, hrtimer_get_expires(&t.timer), mode);
+
+        if (likely(t.task))
+            schedule();
+
+        hrtimer_cancel(&t.timer);
+        mode = HRTIMER_MODE_ABS;
+
+    } while (t.task && !signal_pending(current));
+}
+
+#endif // EC_USE_HRTIMER
 
 /*****************************************************************************/
 
@@ -1187,9 +1223,14 @@
     ec_slave_t *slave = NULL;
     int fsm_exec;
 	size_t sent_bytes;
-	ec_master_set_send_interval(master,1000000 / HZ); // send interval in IDLE phase
+
+    // send interval in IDLE phase
+	ec_master_set_send_interval(master, 1000000 / HZ); 
+
 	if (master->debug_level)
-		EC_DBG("Idle thread running with send interval = %d us, max data size=%d\n",master->send_interval,master->max_queue_size);
+		EC_DBG("Idle thread running with send interval = %d us,"
+                " max data size=%d\n", master->send_interval,
+                master->max_queue_size);
 
     while (!kthread_should_stop()) {
         ec_datagram_output_stats(&master->fsm_datagram);
@@ -1218,17 +1259,29 @@
         }
         ec_master_inject_external_datagrams(master);
         ecrt_master_send(master);
-		sent_bytes = master->main_device.tx_skb[master->main_device.tx_ring_index]->len;
+		sent_bytes = master->main_device.tx_skb[
+            master->main_device.tx_ring_index]->len;
         up(&master->io_sem);
 
-		if (ec_fsm_master_idle(&master->fsm))
-			ec_master_nanosleep(master->send_interval*1000);
-		else
-			ec_master_nanosleep(sent_bytes*EC_BYTE_TRANSMITION_TIME);
+		if (ec_fsm_master_idle(&master->fsm)) {
+#ifdef EC_USE_HRTIMER
+			ec_master_nanosleep(master->send_interval * 1000);
+#else
+            set_current_state(TASK_INTERRUPTIBLE);
+            schedule_timeout(1);
+#endif
+        } else {
+#ifdef EC_USE_HRTIMER
+			ec_master_nanosleep(sent_bytes * EC_BYTE_TRANSMISSION_TIME_NS);
+#else
+            schedule();
+#endif
+        }
     }
     
     if (master->debug_level)
         EC_DBG("Master IDLE thread exiting...\n");
+
     return 0;
 }
 
@@ -1241,11 +1294,16 @@
     ec_master_t *master = (ec_master_t *) priv_data;
     ec_slave_t *slave = NULL;
     int fsm_exec;
+
     if (master->debug_level)
-		EC_DBG("Operation thread running with fsm interval = %d us, max data size=%d\n",master->send_interval,master->max_queue_size);
+		EC_DBG("Operation thread running with fsm interval = %d us,"
+                " max data size=%d\n",
+                master->send_interval,
+                master->max_queue_size);
 
     while (!kthread_should_stop()) {
         ec_datagram_output_stats(&master->fsm_datagram);
+
         if (master->injection_seq_rt == master->injection_seq_fsm) {
             // output statistics
             ec_master_output_stats(master);
@@ -1266,8 +1324,19 @@
             if (fsm_exec)
                 master->injection_seq_fsm++;
         }
+
+#ifdef EC_USE_HRTIMER
 		// the op thread should not work faster than the sending RT thread
-		ec_master_nanosleep(master->send_interval*1000);
+		ec_master_nanosleep(master->send_interval * 1000);
+#else
+        if (ec_fsm_master_idle(&master->fsm)) {
+            set_current_state(TASK_INTERRUPTIBLE);
+            schedule_timeout(1);
+        }
+        else {
+            schedule();
+        }
+#endif
 	}
     
     if (master->debug_level)
@@ -2138,6 +2207,56 @@
 
 /*****************************************************************************/
 
+int ecrt_master(ec_master_t *master, ec_master_info_t *master_info)
+{
+    if (master->debug_level)
+        EC_DBG("ecrt_master(master = 0x%p, master_info = 0x%p)\n",
+                master, master_info);
+
+    master_info->slave_count = master->slave_count;
+    master_info->link_up = master->main_device.link_state;
+    master_info->scan_busy = master->scan_busy;
+    master_info->app_time = master->app_time;
+    return 0;
+}
+
+/*****************************************************************************/
+
+int ecrt_master_get_slave(ec_master_t *master, uint16_t slave_position,
+        ec_slave_info_t *slave_info)
+{
+    const ec_slave_t *slave;
+
+    if (down_interruptible(&master->master_sem)) {
+        return -EINTR;
+    }
+
+    slave = ec_master_find_slave_const(master, 0, slave_position);
+
+    slave_info->position = slave->ring_position;
+    slave_info->vendor_id = slave->sii.vendor_id;
+    slave_info->product_code = slave->sii.product_code;
+    slave_info->revision_number = slave->sii.revision_number;
+    slave_info->serial_number = slave->sii.serial_number;
+    slave_info->alias = slave->sii.alias;
+    slave_info->current_on_ebus = slave->sii.current_on_ebus;
+    slave_info->al_state = slave->current_state;
+    slave_info->error_flag = slave->error_flag;
+    slave_info->sync_count = slave->sii.sync_count;
+    slave_info->sdo_count = ec_slave_sdo_count(slave);
+    if (slave->sii.name) {
+        strncpy(slave_info->name, slave->sii.name, EC_MAX_STRING_LENGTH);
+    } else {
+        slave_info->name[0] = 0;
+    }
+
+    up(&master->master_sem);
+
+    return 0;
+}
+
+/*****************************************************************************/
+
 void ecrt_master_callbacks(ec_master_t *master,
         void (*send_cb)(void *), void (*receive_cb)(void *), void *cb_data)
 {
@@ -2218,6 +2337,8 @@
 EXPORT_SYMBOL(ecrt_master_send_ext);
 EXPORT_SYMBOL(ecrt_master_receive);
 EXPORT_SYMBOL(ecrt_master_callbacks);
+EXPORT_SYMBOL(ecrt_master);
+EXPORT_SYMBOL(ecrt_master_get_slave);
 EXPORT_SYMBOL(ecrt_master_slave_config);
 EXPORT_SYMBOL(ecrt_master_state);
 EXPORT_SYMBOL(ecrt_master_application_time);
--- a/tty/module.c	Thu Jan 21 11:09:31 2010 +0100
+++ b/tty/module.c	Thu Jan 21 11:10:22 2010 +0100
@@ -40,6 +40,7 @@
 #include <linux/tty_flip.h>
 #include <linux/termios.h>
 #include <linux/timer.h>
+#include <linux/version.h>
 
 #include "../master/globals.h"
 #include "../include/ectty.h"
@@ -379,7 +380,11 @@
 
 /*****************************************************************************/
 
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
+static int ec_tty_put_char(struct tty_struct *tty, unsigned char ch)
+#else
 static void ec_tty_put_char(struct tty_struct *tty, unsigned char ch)
+#endif
 {
     ec_tty_t *t = (ec_tty_t *) tty->driver_data;
 
@@ -390,8 +395,14 @@
     if (ec_tty_tx_space(t)) {
         t->tx_buffer[t->tx_write_idx] = ch;
         t->tx_write_idx = (t->tx_write_idx + 1) % EC_TTY_TX_BUFFER_SIZE;
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
+        return 1;
+#endif
     } else {
         printk(KERN_WARNING PFX "%s(): Dropped a byte!\n", __func__);
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 26)
+        return 0;
+#endif
     }
 }
 
@@ -506,11 +517,19 @@
 
 /*****************************************************************************/
 
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
+static int ec_tty_break(struct tty_struct *tty, int break_state)
+#else
 static void ec_tty_break(struct tty_struct *tty, int break_state)
+#endif
 {
 #if EC_TTY_DEBUG >= 2
     printk(KERN_INFO PFX "%s(break_state = %i).\n", __func__, break_state);
 #endif
+
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(2, 6, 27)
+    return -EIO; // not implemented
+#endif
 }
 
 /*****************************************************************************/