bkinnightskytw
/
ethercat
mirror of https://gitlab.com/bkinnightskytw/ethercat.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Updated features.

This commit is contained in:
Florian Pose 2008-11-25 16:23:46 +00:00
parent c66d1cc62a
commit 0ccbfabfa7
1 changed files with 50 additions and 34 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

84
FEATURES
View File

@ -4,64 +4,80 @@ This is the FEATURES file of the IgH EtherCAT Master.
$Id$
vim: spelllang=en spell
-------------------------------------------------------------------------------
General Features:
* Runs as kernel module for Linux 2.6.
* EtherCAT master implementation conforming to IEC/PAS 62407.
- Runs as kernel module for Linux 2.6.
- Multiple masters possible on one machine.
* Comes with EtherCAT-capable network driver for serveral network interface
cards.
- Interrupt-less network driver operation.
- Easy implementation of additional network drivers through common device
* 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 of the master.
- Runs even with PCMCIA cards.
- Operation possible with any device supported by the standard drivers,
including PCMCIA devices.
* Supports multiple EtherCAT masters on one machine.
* Supports any realtime environment through independent architecture.
- RTAI, Xenomai, RT-Preempt, etc.
- Operation possible even without any realtime extension.
* Supports any realtime extension through independent architecture.
- RTAI, IPIPE, ADEOS, etc.
- Runs well even without realtime extension.
* Common kernel interface for realtime modules using EtherCAT functionality.
- Synchronous transmission and reception of EtherCAT frames.
* Common API for Realtime-Applications in kernel- and userspace.
- Requesting and releasing masters.
- Dynamic slave configuration, even for slaves that are offline.
- Detailed configuration of the slaves' Pdos and Sdos.
- Creation of process data domains (see below). Registration of Pdo entries
for exchange within a domain.
- Monitoring the states of masters, slave configurations and domains.
- Sdo handlers for application-triggered CoE transfers (see below).
- VoE handlers for Vendor-specific mailbox protocols (see below).
- Similar userspace implementation of the kernel API via a C-library.
- Avoidance of unnecessary copy operations for process data.
* Separating slave groups through domains.
- Handling of multiple slave groups with different sampling rates.
- Automatic calculation of process data mapping, FMMU- and sync manager
configuration within the domains.
- Process data exchange can be monitored via a per-domain mechanism.
* Master finite state machine (FSM).
- Bus monitoring during realtime operation.
- Automatic reconfiguration of slaves on bus power failure during realtime
operation.
- Setting slave states during realtime operation.
* Special IDLE mode, when master is not in use.
- Automatic scanning of slaves upon topology changes.
- Bus visualisation and EoE processing without realtime process connected.
- The same state machine runs when the master is idle and also when an
application is connected.
- Bus monitoring. Slave states are read cyclically. Automatic scanning of the
bus on a topology change.
- Automatic configuration of slaves, if a application-layer state change is
requested.
* Implementation of the CANopen-over-EtherCAT (CoE) protocol.
- Configuration of CoE-capable slaves via Sdo interface.
- Configuration of CoE-capable slaves.
- Sdo information service (dictionary listing).
- Sdo access via the realtime interface.
- Sdo transfers via the application interface and the command-line tool.
* Implementation of the Ethernet-over-EtherCAT (EoE) protocol.
- Creates virtual network devices that are automatically coupled to
EoE-capable slaves.
- Thus natively supports either a switched or a routed EoE network
architecture with standard GNU/Linux tools.
- Creates a virtual network interface for any EoE-capable slave.
- Natively supports either a switched or a routed EoE network
architecture.
* User space interface via a command-line tool 'ethercat'.
- Detailed information about master, slaves and the bus configuration.
- Slave SII reading and writing.
* Userspace command-line tool 'ethercat'.
- Detailed information about master, slaves, domains and bus configuration.
- Reading/Writing alias addresses.
- Listing slave configurations.
- Viewing process data.
- Sdo download/upload; listing Sdo dictionaries.
- Access to slave registers.
- Slave SII (EEPROM) access.
- Requesting application-layer states.
- Generation of slave description XML from existing slaves.
* Seamless integration in your favourite GNU/Linux distibution.
- Master and network device configuration via sysconfig files.
* Seamless integration in any GNU/Linux distribution.
- Master and Ethernet device configuration via sysconfig file.
- "Linux standard base"-compatible init script for master control.
* Virtual read-only network interface for debugging purposes and for
monitoring the EtherCAT traffic (through Wireshark, or others).
* Virtual read-only network interface for debugging and traffic monitoring
purposes (using Wireshark, etc.). No additional hardware necessary.
-------------------------------------------------------------------------------