Version bump to 1.6.9

Driver fixes for openSUSE Leap 16.0

See merge request etherlab.org/ethercat!192

NEWS.md

@@ -1,3 +1,20 @@
+# Version 1.6.9
+
+- Protect datagram injection mechanism against re-ordering.
+- Fixed for genet and igb drivers for openSUSE Leap 16.0 kernel 6.12.
+- tty: Implemented new timer interface since kernel 6.15.
+- Do not require .config to exist in kernel sources.
+- Fix: Attach slaves before calculating DCs.
+- Discard EoE traffic in CoE statemachine, if EoE is disabled.
+- Support for Linux 6.19
+- Added `--with-kmod-dir` and `--with-ip-cmd` configuration switches
+  to specify the paths of the tools used in the `ethercatctl` script.
+- Changed the default path of the `ip` command to `/sbin/ip`.
+
+# Version 1.6.8
+
+- Fixed usage of `FAKE_EC_HOMEDIR` variable in fake library.
+
 # Version 1.6.7
 
 - Completed API methods in fake library

configure.ac

@@ -28,7 +28,7 @@ AC_PREREQ([2.59])
 # - Check for complete Doxygen comments
 # - Update version number below
 #
-AC_INIT([ethercat], [1.6.7], [fp@igh.de])
+AC_INIT([ethercat], [1.6.9], [fp@igh.de])
 AC_CONFIG_AUX_DIR([autoconf])
 AM_INIT_AUTOMAKE([-Wall -Wno-override -Werror dist-bzip2 subdir-objects foreign])
 m4_ifdef([AM_SILENT_RULES], [AM_SILENT_RULES([yes])])
@@ -59,7 +59,7 @@ AC_MSG_CHECKING([whether to build kernel modules])
 
 AC_ARG_ENABLE([kernel],
     AS_HELP_STRING([--enable-kernel],
-                   [Enable building kernel modules]),
+                   [Enable building kernel modules [default=yes]]),
     [
         case "${enableval}" in
             yes) enablekernel=1
@@ -90,7 +90,7 @@ if test "x$enablekernel" = "x1"; then
 
 AC_ARG_WITH([linux-dir],
     AS_HELP_STRING([--with-linux-dir=<DIR>],
-                   [Linux kernel sources @<:@running kernel@:>@]),
+                   [Linux kernel sources [running kernel]]),
     [
         sourcedir=[$withval]
     ],
@@ -107,9 +107,9 @@ AC_ARG_WITH([linux-dir],
 
 AC_MSG_CHECKING([for Linux kernel sources])
 
-if test \! -r ${sourcedir}/.config; then
+if test \! -r ${sourcedir}/Makefile; then
     echo
-    AC_MSG_ERROR([No configured Linux kernel sources in $sourcedir])
+    AC_MSG_ERROR([No Linux kernel sources in $sourcedir])
 fi
 
 # Try to get kernel release string
@@ -127,7 +127,7 @@ fi
 
 if test -z "$kernelrelease"; then
     echo
-    AC_MSG_ERROR([Failed to extract Linux kernel version!])
+    AC_MSG_ERROR([Failed to extract Linux kernel version! Does ${sourcedir} contain prepared kernel sources?])
 fi
 
 if test ${kernelrelease%%.*} -gt 2; then
@@ -150,7 +150,7 @@ fi
 
 AC_ARG_WITH([module-dir],
     AS_HELP_STRING([--with-module-dir=<DIR>],
-                   [Linux module installation dir. Default: ethercat]),
+                   [Linux module installation dir [default=ethercat]]),
     [moddir=[$withval]],
     [moddir="ethercat"]
 )
@@ -167,7 +167,7 @@ AC_MSG_CHECKING([whether to verify native driver resources])
 
 AC_ARG_ENABLE([driver-resource-verifying],
     AS_HELP_STRING([--enable-driver-resource-verifying],
-                   [Verify resource (de-)allocation in native drivers]),
+                   [Verify resource (de-)allocation in native drivers [default=no]]),
     [
         case "${enableval}" in
             yes) enableverifying=1
@@ -196,7 +196,7 @@ AC_SUBST(ENABLE_DRIVER_RESOURCE_VERIFYING, [$enableverifying])
 
 AC_ARG_ENABLE([generic],
     AS_HELP_STRING([--enable-generic],
-                   [Enable generic Ethernet driver]),
+                   [Build generic Ethernet driver [default=enable-kernel]]),
     [
         case "${enableval}" in
             yes) enablegeneric=1
@@ -219,7 +219,7 @@ AC_SUBST(ENABLE_GENERIC, [$enablegeneric])
 
 AC_ARG_ENABLE([8139too],
     AS_HELP_STRING([--enable-8139too],
-                   [Enable 8139too driver]),
+                   [Build 8139too driver [default=no]]),
     [
         case "${enableval}" in
             yes) enable8139too=1
@@ -230,7 +230,7 @@ AC_ARG_ENABLE([8139too],
                 ;;
         esac
     ],
-    [enable8139too=0] # disabled by default
+    [enable8139too=0]
 )
 
 AM_CONDITIONAL(ENABLE_8139TOO, test "x$enable8139too" = "x1")
@@ -272,7 +272,7 @@ AC_SUBST(KERNEL_8139TOO, [$kernel8139too])
 
 AC_ARG_ENABLE([e100],
     AS_HELP_STRING([--enable-e100],
-                   [Enable e100 driver]),
+                   [Build e100 driver [default=no]]),
     [
         case "${enableval}" in
             yes) enablee100=1
@@ -283,7 +283,7 @@ AC_ARG_ENABLE([e100],
                 ;;
         esac
     ],
-    [enablee100=0] # disabled by default
+    [enablee100=0]
 )
 
 AM_CONDITIONAL(ENABLE_E100, test "x$enablee100" = "x1")
@@ -325,7 +325,7 @@ AC_SUBST(KERNEL_E100, [$kernele100])
 
 AC_ARG_ENABLE([e1000],
     AS_HELP_STRING([--enable-e1000],
-                   [Enable e1000 driver]),
+                   [Build e1000 driver [default=no]]),
     [
         case "${enableval}" in
             yes) enablee1000=1
@@ -336,7 +336,7 @@ AC_ARG_ENABLE([e1000],
                 ;;
         esac
     ],
-    [enablee1000=0] # disabled by default
+    [enablee1000=0]
 )
 
 AM_CONDITIONAL(ENABLE_E1000, test "x$enablee1000" = "x1")
@@ -378,7 +378,7 @@ AC_SUBST(KERNEL_E1000, [$kernele1000])
 
 AC_ARG_ENABLE([e1000e],
     AS_HELP_STRING([--enable-e1000e],
-                   [Enable e1000e driver]),
+                   [Build e1000e driver [default=no]]),
     [
         case "${enableval}" in
             yes) enablee1000e=1
@@ -389,7 +389,7 @@ AC_ARG_ENABLE([e1000e],
                 ;;
         esac
     ],
-    [enablee1000e=0] # disabled by default
+    [enablee1000e=0]
 )
 
 AM_CONDITIONAL(ENABLE_E1000E, test "x$enablee1000e" = "x1")
@@ -451,7 +451,7 @@ AC_SUBST(E1000E_LAYOUT, [$e1000elayout])
 
 AC_ARG_ENABLE([genet],
     AS_HELP_STRING([--enable-genet],
-                   [Enable genet driver (for Raspi 4)]),
+                   [Build genet driver for Raspi 4 [default=no]]),
     [
         case "${enableval}" in
             yes) enablegenet=1
@@ -462,7 +462,7 @@ AC_ARG_ENABLE([genet],
                 ;;
         esac
     ],
-    [enablegenet=0] # disabled by default
+    [enablegenet=0]
 )
 
 AM_CONDITIONAL(ENABLE_GENET, test "x$enablegenet" = "x1")
@@ -497,7 +497,7 @@ AC_SUBST(KERNEL_GENET, [$kernelgenet])
 
 AC_ARG_ENABLE([igb],
     AS_HELP_STRING([--enable-igb],
-                   [Enable igb driver]),
+                   [Build igb driver [default=no]]),
     [
         case "${enableval}" in
             yes) enableigb=1
@@ -508,7 +508,7 @@ AC_ARG_ENABLE([igb],
                 ;;
         esac
     ],
-    [enableigb=0] # disabled by default
+    [enableigb=0]
 )
 
 AM_CONDITIONAL(ENABLE_IGB, test "x$enableigb" = "x1")
@@ -544,7 +544,7 @@ AC_SUBST(KERNEL_IGB, [$kerneligb])
 
 AC_ARG_ENABLE([igc],
     AS_HELP_STRING([--enable-igc],
-                   [Enable igc driver]),
+                   [Build igc driver [default=no]]),
     [
         case "${enableval}" in
             yes) enableigc=1
@@ -555,7 +555,7 @@ AC_ARG_ENABLE([igc],
                 ;;
         esac
     ],
-    [enableigc=0] # disabled by default
+    [enableigc=0]
 )
 
 AM_CONDITIONAL(ENABLE_IGC, test "x$enableigc" = "x1")
@@ -606,7 +606,7 @@ has_r8169_leds=0
 
 AC_ARG_ENABLE([r8169],
     AS_HELP_STRING([--enable-r8169],
-                   [Enable r8169 driver]),
+                   [Build r8169 driver [default=no]]),
     [
         case "${enableval}" in
             yes) enable_r8169=1
@@ -617,7 +617,7 @@ AC_ARG_ENABLE([r8169],
                 ;;
         esac
     ],
-    [enable_r8169=0] # disabled by default
+    [enable_r8169=0]
 )
 
 AM_CONDITIONAL(ENABLE_R8169, test "x$enable_r8169" = "x1")
@@ -681,7 +681,7 @@ enablestmmac=0
 
 AC_ARG_ENABLE([stmmac-pci],
     AS_HELP_STRING([--enable-stmmac-pci],
-                   [Enable stmmac driver]),
+                   [Build stmmac driver [default=no]]),
     [
         case "${enableval}" in
             yes) enablestmmacpci=1
@@ -693,7 +693,7 @@ AC_ARG_ENABLE([stmmac-pci],
                 ;;
         esac
     ],
-    [enablestmmacpci=0] # disabled by default
+    [enablestmmacpci=0]
 )
 
 AM_CONDITIONAL(ENABLE_STMMACPCI, test "x$enablestmmacpci" = "x1")
@@ -701,7 +701,7 @@ AC_SUBST(ENABLE_STMMACPCI, [$enablestmmacpci])
 
 AC_ARG_ENABLE([dwmac-intel],
     AS_HELP_STRING([--enable-dwmac-intel],
-                   [Enable stmmac driver]),
+                   [Build dwmac intel driver [default=no]]),
     [
         case "${enableval}" in
             yes) enabledwmacintel=1
@@ -713,7 +713,7 @@ AC_ARG_ENABLE([dwmac-intel],
                 ;;
         esac
     ],
-    [enabledwmacintel=0] # disabled by default
+    [enabledwmacintel=0]
 )
 
 AM_CONDITIONAL(ENABLE_DWMACINTEL, test "x$enabledwmacintel" = "x1")
@@ -764,7 +764,7 @@ AC_MSG_CHECKING([whether to build the CCAT driver])
 
 AC_ARG_ENABLE([ccat],
     AS_HELP_STRING([--enable-ccat],
-                   [Enable CCAT driver]),
+                   [Build CCAT driver [default=no]]),
     [
         case "${enableval}" in
             yes) enableccat=1
@@ -775,7 +775,7 @@ AC_ARG_ENABLE([ccat],
                 ;;
         esac
     ],
-    [enableccat=0] # disabled by default
+    [enableccat=0]
 )
 
 if test "x${enableccat}" = "x1"; then
@@ -848,7 +848,7 @@ AC_ARG_WITH([xenomai-dir],
 
 AC_ARG_WITH([xenomai-config],
     AS_HELP_STRING([--with-xenomai-config=<CMD>],
-                   [Xenomai config invokation, default to xenomai-dir/bin/xeno-config]),
+                   [Xenomai config invocation [default=xenomai-dir/bin/xeno-config]]),
     [
         xenomaiconfig=[$withval]
     ],
@@ -946,7 +946,7 @@ AC_MSG_CHECKING([whether to build the debug interface])
 
 AC_ARG_ENABLE([debug-if],
     AS_HELP_STRING([--enable-debug-if],
-                   [Create a debug interface for each master @<:@NO@:>@]),
+                   [Create a debug interface for each master [default=no]]),
     [
         case "${enableval}" in
             yes) dbg=1
@@ -978,7 +978,7 @@ AC_MSG_CHECKING([whether to build the debug ring])
 
 AC_ARG_ENABLE([debug-ring],
     AS_HELP_STRING([--enable-debug-ring],
-                   [Create a debug ring to record frames @<:@NO@:>@]),
+                   [Create a debug ring to record frames [default=no]]),
     [
         case "${enableval}" in
             yes) debugring=1
@@ -1007,7 +1007,7 @@ AC_MSG_CHECKING([whether to build with EoE support])
 
 AC_ARG_ENABLE([eoe],
     AS_HELP_STRING([--enable-eoe],
-                   [Enable EoE support (default: yes)]),
+                   [Enable EoE support [default=yes]]),
     [
         case "${enableval}" in
             yes) eoe=1
@@ -1039,7 +1039,7 @@ AC_MSG_CHECKING([whether to use the CPU timestamp counter])
 
 AC_ARG_ENABLE([cycles],
     AS_HELP_STRING([--enable-cycles],
-                   [Use CPU timestamp counter (default: no)]),
+                   [Use CPU timestamp counter [default=no]]),
     [
         case "${enableval}" in
             yes) cycles=1
@@ -1068,7 +1068,7 @@ AC_MSG_CHECKING([whether to use high-resolution timers for scheduling])
 
 AC_ARG_ENABLE([hrtimer],
     AS_HELP_STRING([--enable-hrtimer],
-                   [Use high-resolution timer for scheduling (default: no)]),
+                   [Use high-resolution timer for scheduling [default=no]]),
     [
         case "${enableval}" in
             yes) hrtimer=1
@@ -1097,7 +1097,7 @@ AC_MSG_CHECKING([whether to read alias addresses from registers])
 
 AC_ARG_ENABLE([regalias],
     AS_HELP_STRING([--enable-regalias],
-                   [Read alias adresses from register (default: no)]),
+                   [Read alias adresses from register [default=no]]),
     [
         case "${enableval}" in
             yes) regalias=1
@@ -1126,7 +1126,7 @@ AC_MSG_CHECKING([whether to build the command-line tool])
 
 AC_ARG_ENABLE([tool],
     AS_HELP_STRING([--enable-tool],
-                   [Build command-line tool (default: yes)]),
+                   [Build command-line tool [default=yes]]),
     [
         case "${enableval}" in
             yes) tool=1
@@ -1156,7 +1156,7 @@ AC_MSG_CHECKING([whether to build the userspace library])
 
 AC_ARG_ENABLE([userlib],
     AS_HELP_STRING([--enable-userlib],
-                   [Generation of the userspace library (default: yes)]),
+                   [Generation of userspace library [default=yes]]),
     [
         case "${enableval}" in
             yes) userlib=1
@@ -1186,7 +1186,7 @@ AC_MSG_CHECKING([whether to build the fake userspace library])
 
 AC_ARG_ENABLE([fakeuserlib],
     AS_HELP_STRING([--enable-fakeuserlib],
-                   [Generation of the userspace library (default: no)]),
+                   [Generation of fake userspace library [default=no]]),
     [
         case "${enableval}" in
             yes) fakeuserlib=1
@@ -1217,7 +1217,7 @@ AC_MSG_CHECKING([whether to build the tty driver])
 
 AC_ARG_ENABLE([tty],
     AS_HELP_STRING([--enable-tty],
-                   [Generation of the ec_tty module (default: no)]),
+                   [Generation of the ec_tty module [default=no]]),
     [
         case "${enableval}" in
             yes) tty=1
@@ -1248,7 +1248,7 @@ AC_MSG_CHECKING([whether to allow identification wildcards])
 
 AC_ARG_ENABLE([wildcards],
     AS_HELP_STRING([--enable-wildcards],
-                   [Enable vendor ID / product code wildcards (default: no)]),
+                   [Enable vendor ID / product code wildcards [default=no]]),
     [
         case "${enableval}" in
             yes) wildcards=1
@@ -1276,7 +1276,7 @@ fi
 
 AC_ARG_WITH([devices],
     AS_HELP_STRING([--with-devices=<NUMBER>],
-                   [Number of Ethernet devices per master. Default: 1]),
+                   [Number of Ethernet devices per master [default=1]]),
     [
         devices=[$withval]
     ],
@@ -1308,7 +1308,7 @@ AC_MSG_CHECKING([whether to assign the SII to PDI])
 
 AC_ARG_ENABLE([sii-assign],
     AS_HELP_STRING([--enable-sii-assign],
-                   [Enable SII assignment to PDI (default: yes)]),
+                   [Enable SII assignment to PDI [default=yes]]),
     [
         case "${enableval}" in
             yes) siiassign=1
@@ -1337,7 +1337,7 @@ AC_MSG_CHECKING([whether to syslog in realtime context])
 
 AC_ARG_ENABLE([rt-syslog],
     AS_HELP_STRING([--enable-rt-syslog],
-                   [Enable RT syslog (default: yes)]),
+                   [Enable RT syslog [default=yes]]),
     [
         case "${enableval}" in
             yes) rtsyslog=1
@@ -1363,8 +1363,8 @@ fi
 #-----------------------------------------------------------------------------
 
 AC_ARG_ENABLE([initd],
-    AS_HELP_STRING([--disable-initd],
+    AS_HELP_STRING([--enable-initd],
-                   [Disable /etc/init.d script support (default: enabled)])
+                   [Install /etc/init.d scripts [default=yes]])
 )
 AM_CONDITIONAL(HAVE_INITD, test "x$enable_initd" != "xno")
 
@@ -1397,6 +1397,32 @@ esac
 AM_CONDITIONAL(HAVE_SYSTEMD, test "x$with_systemdsystemunitdir" != "x")
 AC_SUBST(systemdsystemunitdir, [$with_systemdsystemunitdir])
 
+#-----------------------------------------------------------------------------
+# System utilities
+#-----------------------------------------------------------------------------
+
+AC_ARG_WITH([kmod-dir],
+    AS_HELP_STRING([--with-kmod-dir=<DIR>],
+                   [Path to kernel module utilities [default=/sbin]]),
+    [kmoddir=[$withval]],
+    [kmoddir="/sbin"]
+)
+
+AC_MSG_CHECKING([for path to kernel modules])
+AC_MSG_RESULT([$kmoddir])
+AC_SUBST(kmoddir, [$kmoddir])
+
+AC_ARG_WITH([ip-cmd],
+    AS_HELP_STRING([--with-ip-cmd=<CMD>],
+                   ['ip' command to use [default=/sbin/ip]]),
+    [ipcmd=[$withval]],
+    [ipcmd="/sbin/ip"]
+)
+
+AC_MSG_CHECKING([for ip command])
+AC_MSG_RESULT([$ipcmd])
+AC_SUBST(ipcmd, [$ipcmd])
+
 #-----------------------------------------------------------------------------
 
 AC_CONFIG_FILES([

devices/generic.c

@@ -234,7 +234,11 @@ int ec_gen_device_create_socket(
     sa.sll_family = AF_PACKET;
     sa.sll_protocol = htons(ETH_P_ETHERCAT);
     sa.sll_ifindex = desc->ifindex;
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(6, 19, 0)
+    ret = kernel_bind(dev->socket, (struct sockaddr_unsized *) &sa, sizeof(sa));
+#else
     ret = kernel_bind(dev->socket, (struct sockaddr *) &sa, sizeof(sa));
+#endif
     if (ret) {
         printk(KERN_ERR PFX "Failed to bind() socket to interface"
                 " (ret = %i).\n", ret);

devices/genet/bcmgenet-6.12-ethercat.c

@@ -2459,7 +2459,11 @@ static int bcmgenet_rx_poll(struct napi_struct *napi, int budget)
 	if (ring->dim.use_dim) {
 		dim_update_sample(ring->dim.event_ctr, ring->dim.packets,
 				  ring->dim.bytes, &dim_sample);
+#ifdef CONFIG_SUSE_KERNEL
+		net_dim(&ring->dim.dim, &dim_sample);
+#else
 		net_dim(&ring->dim.dim, dim_sample);
+#endif
 	}
 
 	return work_done;

devices/igb/igb_main-6.12-ethercat.c

@@ -2513,6 +2513,9 @@ static int igb_ndo_fdb_add(struct ndmsg *ndm, struct nlattr *tb[],
 			   struct net_device *dev,
 			   const unsigned char *addr, u16 vid,
 			   u16 flags,
+#ifdef CONFIG_SUSE_KERNEL
+			   bool *notified,
+#endif
 			   struct netlink_ext_ack *extack)
 {
 	/* guarantee we can provide a unique filter for the unicast address */

examples/dc_user/main.c

@@ -1,6 +1,6 @@
 /*****************************************************************************
  *
- *  Copyright (C) 2007-2022  Florian Pose, Ingenieurgemeinschaft IgH
+ *  Copyright (C) 2007-2026  Florian Pose, Ingenieurgemeinschaft IgH
  *
  *  This file is part of the IgH EtherCAT Master.
  *
@@ -300,8 +300,14 @@ int main(int argc, char **argv)
     if (off_counter_out < 0)
         return -1;
 
-    // configure SYNC signals for this slave
+    // configure SYNC0/SYNC1 interrupts for this slave
-    ecrt_slave_config_dc(sc, 0x0700, PERIOD_NS, 4400000, 0, 0);
+    ecrt_slave_config_dc(sc,
+            0x0700, // AssignActivate (see vendor docs)
+            PERIOD_NS, // SYNC0 cycle time [ns]
+            4400000, // SYNC0 shift time [ns]
+            0, // SYNC1 cycle time [ns]
+            0 // SYNC1 shift time [ns]
+            );
 
     printf("Activating master...\n");
     if (ecrt_master_activate(master))

examples/tty/tty.c

@@ -233,7 +233,11 @@ static void __exit cleanup_mini_module(void)
 {
     printk(KERN_INFO PFX "Stopping...\n");
 
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(6, 15, 0)
+    timer_delete_sync(&timer);
+#else
     del_timer_sync(&timer);
+#endif
 
     free_serial_devices();
 

fake_lib/README.md

@@ -9,14 +9,16 @@ data level by running two applications back to back.
 
 ## Supported features
 
-Currently, only a very limited subset of libethercat functionality is
+Although the library implements the complete API (to avoid undefined
-supported:
+references), most function calls will just do nothing and return no error.
+However, some methods have a bit of logic implemented to simulate a working
+master. This is what is possible:
 
  - Creating master and domain instances
- - Activating master, `send`/`receive`.
+ - Activating master, `send()` and `receive()`.
  - Processing and queuing domains
  - Configuring PDOs
- - Configuring SDOs using `ecrt_slave_config_sdo*`
+ - Configuring SDOs using `ecrt_slave_config_sdo*()`
 
 The SDO config does not do anything, but when activating the master the SDO
 config will be dumped into a JSON file.

fake_lib/fakeethercat.cpp

@@ -573,11 +573,11 @@ static int mkpath(const std::string &file_path)
 
 static std::string getRtIpcDir(int idx)
 {
-    std::string ans;
+    std::string ans("/tmp/FakeEtherCAT");
     if (const auto e = getenv("FAKE_EC_HOMEDIR")) {
-        ans = e + std::string("/") + std::to_string(idx);
+        ans = e;
     }
-    ans = "/tmp/FakeEtherCAT/" + std::to_string(idx);
+    ans += std::string("/") + std::to_string(idx);
     mkpath(ans);
     return ans;
 }
@@ -617,6 +617,9 @@ int ecrt_slave_config_sync_manager(
         ec_watchdog_mode_t watchdog_mode /** Watchdog mode. */
 )
 {
+    auto &syncManager = sc->sync_managers[sync_index];
+    syncManager.dir = direction;
+
     return 0;
 }
 

master/fsm_coe.c

@@ -539,6 +539,16 @@ void ec_fsm_coe_dict_response(
         return;
     }
 
+#ifndef EC_EOE
+    if (mbox_prot == EC_MBOX_TYPE_EOE) {
+        // discard EoE message and wait for the next reponse
+        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+        fsm->retries = EC_FSM_RETRIES;
+        fsm->state = ec_fsm_coe_dict_check;
+        return;
+    }
+#endif
+
     if (mbox_prot != EC_MBOX_TYPE_COE) {
         EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
                 mbox_prot);
@@ -821,6 +831,16 @@ void ec_fsm_coe_dict_desc_response(
         return;
     }
 
+#ifndef EC_EOE
+    if (mbox_prot == EC_MBOX_TYPE_EOE) {
+        // discard EoE message and wait for the next reponse
+        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+        fsm->retries = EC_FSM_RETRIES;
+        fsm->state = ec_fsm_coe_dict_desc_check;
+        return;
+    }
+#endif
+
     if (mbox_prot != EC_MBOX_TYPE_COE) {
         EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
                 mbox_prot);
@@ -1057,6 +1077,16 @@ void ec_fsm_coe_dict_entry_response(
         return;
     }
 
+#ifndef EC_EOE
+    if (mbox_prot == EC_MBOX_TYPE_EOE) {
+        // discard EoE message and wait for the next reponse
+        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+        fsm->retries = EC_FSM_RETRIES;
+        fsm->state = ec_fsm_coe_dict_entry_check;
+        return;
+    }
+#endif
+
     if (mbox_prot != EC_MBOX_TYPE_COE) {
         EC_SLAVE_ERR(slave, "Received mailbox protocol"
                 " 0x%02X as response.\n", mbox_prot);
@@ -1574,6 +1604,16 @@ void ec_fsm_coe_down_response(
         return;
     }
 
+#ifndef EC_EOE
+    if (mbox_prot == EC_MBOX_TYPE_EOE) {
+        // discard EoE message and wait for the next reponse
+        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+        fsm->retries = EC_FSM_RETRIES;
+        fsm->state = ec_fsm_coe_down_check;
+        return;
+    }
+#endif
+
     if (mbox_prot != EC_MBOX_TYPE_COE) {
         request->errno = EIO;
         fsm->state = ec_fsm_coe_error;
@@ -1752,6 +1792,16 @@ void ec_fsm_coe_down_seg_response(
         return;
     }
 
+#ifndef EC_EOE
+    if (mbox_prot == EC_MBOX_TYPE_EOE) {
+        // discard EoE message and wait for the next reponse
+        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+        fsm->retries = EC_FSM_RETRIES;
+        fsm->state = ec_fsm_coe_down_check;
+        return;
+    }
+#endif
+
     if (mbox_prot != EC_MBOX_TYPE_COE) {
         request->errno = EIO;
         fsm->state = ec_fsm_coe_error;
@@ -2114,10 +2164,15 @@ void ec_fsm_coe_up_response(
         return;
     }
 
-    if (master->debug_level) {
+#ifndef EC_EOE
-        EC_SLAVE_DBG(slave, 1, "Upload response:\n");
+    if (mbox_prot == EC_MBOX_TYPE_EOE) {
-        ec_print_data(data, rec_size);
+        // discard EoE message and wait for the next reponse
+        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+        fsm->retries = EC_FSM_RETRIES;
+        fsm->state = ec_fsm_coe_up_check;
+        return;
     }
+#endif
 
     if (mbox_prot != EC_MBOX_TYPE_COE) {
         request->errno = EIO;
@@ -2135,6 +2190,11 @@ void ec_fsm_coe_up_response(
         return;
     }
 
+    if (master->debug_level) {
+        EC_SLAVE_DBG(slave, 1, "Upload response:\n");
+        ec_print_data(data, rec_size);
+    }
+
     if (rec_size < 6) {
         request->errno = EIO;
         fsm->state = ec_fsm_coe_error;
@@ -2411,10 +2471,15 @@ void ec_fsm_coe_up_seg_response(
         return;
     }
 
-    if (master->debug_level) {
+#ifndef EC_EOE
-        EC_SLAVE_DBG(slave, 1, "Upload segment response:\n");
+    if (mbox_prot == EC_MBOX_TYPE_EOE) {
-        ec_print_data(data, rec_size);
+        // discard EoE message and wait for the next reponse
+        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+        fsm->retries = EC_FSM_RETRIES;
+        fsm->state = ec_fsm_coe_up_seg_check;
+        return;
     }
+#endif
 
     if (mbox_prot != EC_MBOX_TYPE_COE) {
         EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
@@ -2432,6 +2497,12 @@ void ec_fsm_coe_up_seg_response(
         return;
     }
 
+    if (master->debug_level) {
+        EC_SLAVE_DBG(slave, 1, "Upload segment response:\n");
+        ec_print_data(data, rec_size);
+    }
+
+
     if (rec_size < 10) {
         EC_SLAVE_ERR(slave, "Received currupted SDO upload"
                 " segment response!\n");

master/fsm_master.c

@@ -989,11 +989,12 @@ void ec_fsm_master_state_scan_slave(
     master->scan_index = master->slave_count;
     wake_up_interruptible(&master->scan_queue);
 
-    ec_master_calc_dc(master);
-
     // Attach slave configurations
     ec_master_attach_slave_configs(master);
 
+    // Calculate DC (needs attached slaves due to reference clock selection)
+    ec_master_calc_dc(master);
+
 #ifdef EC_EOE
     // check if EoE processing has to be started
     ec_master_eoe_start(master);

master/master.c

@@ -61,6 +61,23 @@
           rt_mutex_lock_interruptible(lock, 0)
 #endif
 
+#if LINUX_VERSION_CODE < KERNEL_VERSION(3, 12, 47)
+
+#define smp_store_release(p, v) \
+do { \
+	smp_mb(); \
+	ACCESS_ONCE(*p) = (v); \
+} while (0)
+
+#define smp_load_acquire(p)	\
+({ \
+	typeof(*p) ___p1 = ACCESS_ONCE(*p); \
+	smp_mb(); \
+	___p1; \
+})
+
+#endif
+
 #include "master.h"
 
 /****************************************************************************/
@@ -195,6 +212,7 @@ int ec_master_init(ec_master_t *master, /**< EtherCAT master */
     master->phase = EC_ORPHANED;
     master->active = 0;
     master->config_changed = 0;
+
     master->injection_seq_fsm = 0;
     master->injection_seq_rt = 0;
 
@@ -1596,6 +1614,7 @@ static int ec_master_idle_thread(void *priv_data)
 static int ec_master_operation_thread(void *priv_data)
 {
     ec_master_t *master = (ec_master_t *) priv_data;
+    unsigned int seq_rt;
 
     EC_MASTER_DBG(master, 1, "Operation thread running"
             " with fsm interval = %u us, max data size=%zu\n",
@@ -1604,7 +1623,11 @@ static int ec_master_operation_thread(void *priv_data)
     while (!kthread_should_stop()) {
         ec_datagram_output_stats(&master->fsm_datagram);
 
-        if (master->injection_seq_rt == master->injection_seq_fsm) {
+        /* Use smp_load_acquire() to prevent re-ordering.
+         * https://gitlab.com/etherlab.org/ethercat/-/work_items/168 */
+        seq_rt = smp_load_acquire(&master->injection_seq_rt);
+        if (seq_rt == master->injection_seq_fsm) { // was injected
+
             // output statistics
             ec_master_output_stats(master);
 
@@ -1616,7 +1639,9 @@ static int ec_master_operation_thread(void *priv_data)
             if (ec_fsm_master_exec(&master->fsm)) {
                 // Inject datagrams (let the RT thread queue them, see
                 // ecrt_master_send())
-                master->injection_seq_fsm++;
+                // re-ordering-safe version of `master->injection_seq_fsm++`
+                smp_store_release(&master->injection_seq_fsm,
+                        master->injection_seq_fsm + 1);
             }
 
             ec_master_exec_slave_fsms(master);
@@ -2436,11 +2461,14 @@ int ecrt_master_send(ec_master_t *master)
 {
     ec_datagram_t *datagram, *n;
     ec_device_index_t dev_idx;
+    unsigned int seq_fsm;
 
-    if (master->injection_seq_rt != master->injection_seq_fsm) {
+    seq_fsm = smp_load_acquire(&master->injection_seq_fsm);
+    if (master->injection_seq_rt != seq_fsm) {
         // inject datagram produced by master FSM
         ec_master_queue_datagram(master, &master->fsm_datagram);
-        master->injection_seq_rt = master->injection_seq_fsm;
+
+        smp_store_release(&master->injection_seq_rt, seq_fsm);
     }
 
     ec_master_inject_external_datagrams(master);

script/Makefile.am

@@ -68,6 +68,8 @@ endif
 # Any precious variable used inside script_templates should appear here
 expand_script = $(SED) \
 	-e 's,[@]VERSION[@],$(VERSION),g' \
+	-e 's,[@]ipcmd[@],$(ipcmd),g' \
+	-e 's,[@]kmoddir[@],$(kmoddir),g' \
 	-e 's,[@]bindir[@],$(bindir),g' \
 	-e 's,[@]sbindir[@],$(sbindir),g' \
 	-e 's,[@]sysconfdir[@],$(sysconfdir),g'

script/ethercatctl.in

@@ -25,13 +25,13 @@
 #
 #------------------------------------------------------------------------------
 
-LSMOD=/sbin/lsmod
+LSMOD="@kmoddir@/lsmod"
-MODPROBE=/sbin/modprobe
+MODPROBE="@kmoddir@/modprobe"
-RMMOD=/sbin/rmmod
+RMMOD="@kmoddir@/rmmod"
-MODINFO=/sbin/modinfo
+MODINFO="@kmoddir@/modinfo"
-IP=/bin/ip
+IP="@ipcmd@"
 
-ETHERCAT=@bindir@/ethercat
+ETHERCAT="@bindir@/ethercat"
 
 #------------------------------------------------------------------------------
 
@@ -39,7 +39,7 @@ if [ "$1" = "-c" ]; then
     ETHERCAT_CONFIG="$2"
     COMMAND="$3"
 else
-    ETHERCAT_CONFIG=@sysconfdir@/ethercat.conf
+    ETHERCAT_CONFIG="@sysconfdir@/ethercat.conf"
     COMMAND="$1"
 fi
 

tty/module.c

@@ -292,7 +292,11 @@ static int ec_tty_init(ec_tty_t *t, int minor,
 
 static void ec_tty_clear(ec_tty_t *tty)
 {
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(6, 15, 0)
+    timer_delete_sync(&tty->timer);
+#else
     del_timer_sync(&tty->timer);
+#endif
     tty_unregister_device(tty_driver, tty->minor);
 }
 
@@ -367,10 +371,14 @@ static void ec_tty_wakeup(struct timer_list *t)
 static void ec_tty_wakeup(unsigned long data)
 #endif
 {
+#if LINUX_VERSION_CODE >= KERNEL_VERSION(6, 15, 0)
+    ec_tty_t *tty = timer_container_of(tty, t, timer);
+#else
 #if LINUX_VERSION_CODE >= KERNEL_VERSION(4, 15, 0)
     ec_tty_t *tty = from_timer(tty, t, timer);
 #else
     ec_tty_t *tty = (ec_tty_t *) data;
+#endif
 #endif
     size_t to_recv;