Changelog EtherCAT Library

V1.8.3 (2024-08-15)

• EtherCAT Library:

  • fixed write access to Register MII Management PDI Access State

  • extended check of PDO MApping objects to full address ranges
    (0x1600 .. 0x17FF, 0x1A00 .. 0x1BFF)

  • check if Mailbox Sync Managers are in Mailbox mode

  • process fragmented CoE responses before sending EOE frame
    (don't interrupt Segmented SDO DOwnload or Upload)

  • improved LED Emulation for Error LED on ET1100

  • optionally support early access check for SDO Downloads
    (Abort invalid access early, after first chunk was received)

  • Added EtherCAT Bootloader mode (FoE only)
    (No CoE, SDO, DC, PDO)

  • reworked LED emulation to properly support STATUS indicator

  • fixed handling of NMT SPlit state if DC is enabled and active

  • increase DC Sync loss check time to 100 ms

  • distinguish between loss of DC event and loss of PDI event when reporting error

• Drivers:

  • XMC4800: support log message printing on Relax EtherCAT Kit

  • LAN9253: added optional SPI communication check during initialization

  • Linux: support LAN9253 SPI driver as a build option

  • AM64XX: added support for TI AM64XX with FreeRTOS

• Examples:

  • AM64XX: added examples for TI AM64XX with FreeRTOS

V1.8.2 (2023-07-06)

• EtherCAT Library:

  • fixed EEPROM Emulation initialization for non-SPI targets

• Drivers:

  • updated XMC4800 Relax-Kit V1

  • added XMC4800 Automation Board V2 incl. FreeRTOS

• Examples:

  • updated XMC4800 Relax-Kit V1

  • added XMC4800 Automation Board V2 incl. FreeRTOS

V1.8.1 (2023-04-27)

• EtherCAT Library:

  • fixed PDO mapping check for objects of MDP modules

  • extended PDO mapping to support:

    • gaps

    • bit data types

    • string data types (also objects bigger than 31 bytes)

    • safety data bigger than 16 bits

  • made object dictionary API threadsafe
    (driver must provide a Mutex)

  • dynamically created CoE objects can now be freed
    (if supported by the target)

  • marked EtherCAT API as C functions for C++ projects

  • fixed processing of Process Data Watchdog events if NMT Split feature is activated

  • reworked EEPROM Emulation Relead command to work with ESC LAN9253

  • fixed SDO Info service GetEntryDescription for objects larger than 64 kbits

  • support storing CoE object descriptions in ROM

• Drivers:

  • AM335x: fixes for current stack version

  • added support for Microchip LAN9255

• Examples:

  • added examples for Microchip LAN9255

V1.8.0 (2022-04-27)

• EtherCAT Library:

  • Extended SPI driver API to pass stack instance handle to driver

  • Fixed possible NULL pointer access for dynamically created objects

  • fixed handling of SDO Info Service GetEntryDescription request that have reserved bits set

  • extended MDP module to support more than one slot
    (but only one active instance of each module)

  • support more than 4 Sync Managers and multiple Sync Units (multiple pairs of Output/Input Sync Managers)

  • added optional extended PDO user API (ec_applSyncInd and ec_applPdoInd)

  • added function to set number of Sync Managers in dynamic config mode (default value: 4)

  • fixed overflow bug for periodic timers
    (handle overflow of time value for newly created and updated timers)

• Drivers:

  • Adjust all SPI drivers to updated SPI driver API

  • Linux: support spidev user space API as SPI PDI

V1.7.2 (2022-01-25)

• EtherCAT Library:

  • fixed PDO Mapping for configurations with alignment gaps

  • fixed writing of non-numeric SDO objects if not all bytes are written

  • added initialization function for common SPI drivers

• Drivers:

  • SPI for LAN9253: support direct mapped mode

  • Added support for ST STM32F4xx

• Examples:

  • Template: updated to work with current stack version

  • add examples for ST STM32F4xx

V1.7.1 (2021-05-31)

• EtherCAT Library:

  • EoE is now dynamically configurable (if dynamic configuration is activated)

  • Fixed handling of PDO mappings with gap entries

  • Added extended object attributes to support Safety flags

  • Added support of MDP profile for devices with only one slot

  • FSoE can now be supported (3rd party FSoE stack is required)

  • Support LED emulations for targets that have dynamic configuration disabled

• Drivers:

  • SPI for ET1100: use Waitstate byte to support higher SPI speeds

  • Added support for TI TMS320F28388X (CM4 Core)

• Examples:

  • Added examples for TI TMS320F28388X (CM4 Core)

V1.7.0 (2021-01-31)

• EtherCAT Library:

  • fixed SDO Abort Code if Complete Access Response exceeds Mailbox size

  • merged header files from "source" folder into header files of "include" folder

  • reimplemented Dynamic Objects to have them behave like normal objects (new API)

  • Timer callbacks now support arguments

  • improved access to Object dictionary

  • allow devices that have only dynamic objects

  • new API to generate Debug messages

  • debug messages now contain function name and line number

  • moved all global variables to one EtherCAT handle (changed all API)
    (required for instantiation of EtherCAT stack in multiprotocol devices)

  • added compatibility mode for applications and drivers that use the old API of 1.6.

  • support dynamic configuration of stack during startup

  • reworked ESC access

  • fixed Download of non-numeric objects

  • support objects that do not have a default value or a minimum and maximum value

  • added timeout when waiting for Sync0 during SafeOp to Op transition

  • added timeout for Read Mailbox (release Mailbox if it is not read by master)

  • fixed deadlock of Input Only slaves that received a SM Change Request

  • support Emulation of RUN and ERR LEDs in CPU

  • fixed Complete Access SDO Download if object size check is enabled

  • fixed limit check for SDO access to UNSIGNED64 and INTEGER64 objects

  • improved Mailbox handling if multiple Mailbox protocols are enabled

  • fixed SDO Info service for objects with gaps

  • several small improvements

• Drivers:

  • ALL: cleaned up include headers & use new API

  • added support for GOAL

  • added generic modules for SPI access to ET1100 and LAN9252

  • added support for SPI access to ESC on Linux (ET1100 and LAN9252)

• Examples:

  • ALL: use new API

  • RIN32M3: updated IAR projects

V1.6.3 (2018-03-23)

• EtherCAT Library:

  • Several bugfixes

  • Use register “Watchdog Status Process Data” to monitor watchdog instead of “AL Status”

  • Added more AL Status Code macros

  • added ec_esmFinishTransition() that allows abortion of ESM state transitions for application specific reasons

• Driver:

  • added support for STM32F7XX (SPI)

• Examples:

  • added examples for STM32F7XX with Keil RTX

V1.6.2 (2018-03-01)

• Driver:

  • updated driver for TI TMS320F2837x to work with EMIF
    (parallel Interface)

• Examples

  • added examples for TI TMS320F2837x with EMIF as PDI

V1.6.1 (2017-11-28)

• EtherCAT Library

  • set ERROR LED depending on AL Status Code

  • support DSPs (16 bit RAM access)

• Driver:

  • TMS320f2837x: added support for TI TMS320f2837x

• Examples:

  • TMS320f2837x: added examples for TI TMS320f2837x

V1.6.0 (2017-08-03)

• EtherCAT Library

  • added MII Management API (Phy access via ESC registers)

  • added support for Input Only slaves with Sync Manager 2 as Inputs

  • CoE: added timeout when waiting for a Master to read response from a Mailbox

  • SDO: Complete Access - allow writing less than all Subindices

  • fixed waiting for DC during SafeOP to OP when feature NMT Split is activated

  • added support for UNSIGNED64 and INTEGER64 data types

  • MBOX: fixed bug "deadlock of Rx Buffers in case of asynchronous traffic"

  • added support for TCP/IP stack "lwIP" over EoE

  • TIMER: renewed Timer API

  • fixed clang compiler warnings

  • added support for GOAL

• Driver:

  • RZ/T1_M3: added support for GOAL on Renesas RZ/T1 (M3 core)

  • RZ/T1_R4F: added support for GOAL on Renesas RZ/T1 (R4F core)

• Examples

  • ALL: updated all examples to work with newest EtherCAT Design Tool

  • ALL: use new Timer API

V1.5.2 (2017-01-03)

• EtherCAT Library

  • accelerated process data exchange if PDI is SPI

• Driver:

  • STM32L4XX: access ESC RAM via Process RAM registers instead of CSR registers

  • PIC32MX: added support for Microchip PIC32MX

• Examples

  • PIC32MX: added support for Microchip PIC32MX

V1.5.1 (2016-12-06)

• Driver:

  • AM335X: fixed recognition of writing last byte in Mailbox

  • STM32L4XX: added support for ST STM32L4XX

• Examples

  • STM32L4XX: added support for ST STM32L4XX

V1.5.0 (2016-07-05)

• EtherCAT Library

  • added support for data type BYTE

V1.4.0 (2016-06-22)

• EtherCAT Library

  • merged lib_type.h into ec_type.h

  • removed obsolete ec_fct.h

  • new init function for ECAT Lib: ec_initLibrary() -> ec_initEtherCAT()

  • new CoE State Machine, fully supporting Complete Access
    (automatic padding of bit types)

  • new Mailbox handler

  • new FoE State Machine, supporting Busy Requests

  • new EoE State Machine, supporting Set & Get IP Parameter

  • new non-blocking debug message generation

  • support of dynamic PDO Configuration

  • fully support objects with gaps

  • fully support SDO Info service

  • Virtual Objects are now also allowed in Profile Area of Object Dictionary

  • new ESM state change indication ec_newNmtStateInd -> ec_newEsmStateInd
    (indicating new state, error state, and error code)

  • Process Data Watchdog is now mandatory

  • extended API for Virtual objects

  • Virtual & Dynamic Objects are now recognized by SDO Info service

  • supporting EEPROM Access via PDI

  • EtherCAT Library now conforms to EtherCAT Conformance Test 2.0.40.0

• Driver:

  • updated all drivers to run with ECAT Lib 1.4.

  • added driver for Microsemi SmartFusion2 (ESC: Trinamic TMC8461)

• Examples:

  • updated all examples to run with ECAT Lib 1.4.

  • added examples for Microsemi SmartFusion2 (ESC: Trinamic TMC8461)

V1.3.13 (2016-01-12)

• EtherCAT Library

  • added support for feature “Acknowledgement by write”

  • moved declaration of ESC memory struct to ecmain.c

• Driver:

  • All: removed obsolete declaration of ESC memory struct

  • XMC4800: added support for Infineon XMC4800

  • RIN32M3: added support for IAR Starter Kit

• Examples:

  • XMC4800: added examples for Infineon XMC4800

V1.3.12 (2015-11-20)

• EtherCAT Library

  • simplified generation of debugging messages

  • fixed FoE state machine to handle connection losses

  • fixed recognition of Repeat Requests for Mailbox Read

• Driver:

  • AM335X: cleaned & refactored driver, removed unused files

• Examples:

  • AM335X: added more examples

V1.3.11 (2015-10-15)

• EtherCAT Library

  • fixed checking of Sync Managers for Process Data

• Driver:

  • AT91SAM7X: added support for Atmel AT91SAM7X

• Examples:

  • AT91SAM7X: added sample applications for Atmel AT91SAM7X

V1.3.10 (2015-05-08)

• EtherCAT Library

  • Fixed recognition of deactivated DC when DC was active before

• Driver:

  • K2X: added support for Freescale Kinetis K2X

• Examples:

  • K2X: added sample applications for Freescale Kinetis K2X

V1.3.9 (2015-04-14)

• EtherCAT Library

  • new EtherCAT State Machine

    • debug level EC_DBG_LVL_NMT replaced by EC_DBG_LVL_ESM

    • Support for Explicit Device Identification (Register 0x134)

    • new User Indication UNSIGNED16 ec_getDeviceID(void)

    • support DC as only synchronization mode

    • changed function prototype of ec_confirmNewNmtState()

• Driver:

  • XMC4500: added support for Infineon XMC4500

• Examples:

  • XMC4500: added sample applications for Infineon XMC4500

V1.3.8 (2015-02-17)

• EtherCAT Library:

  • fixed access to ESC PD RAM for Big Endian architectures

  • fixed copying of Output Process data if Output PDO Bypass is activated (Big Endian only)

  • DC: fixed calculation of checktimer period

  • MBOX: printMboxHdr is now deactivated by default when debugging

  • EOE: query TCP/IP stack for new packet before trying to send out EOE message

  • MAIN: check if SM0 is pending, when no AL Event bit is set

• Driver:

  • Generic: adapted driver to new Library version

  • AM335X: adapted driver to new Library version

  • Linux(PCI): adapted driver to new Library version

  • R-IN32M3: adapted driver to new Library version

• Examples:

  • Linux (PCI): cleaned and unified all examples

  • R-IN32M3: cleaned and unified all examples

V1.3.7 (2015-01-09)

• EtherCAT Library:

  • Fixed handling of invalid state requests during state Operational

V1.3.6 (2014-11-11)

• DRIVER

  • added STM32F2XX driver module

V1.3.5 (2014-10-14)

• EtherCAT Library:

  • moved function prototypes of CoE Indication Functions from ec_usr.h to
    ec_coe.h

  • all files have reformatted code & improved comments

  • added support for EEPROM Emulation

  • added support for reading & writing EEPROM via PDI

  • check address assigned to a Sync Manager

    • is address within Process Data RAM ?

    • does assigned memory area interfere with other Sync Managers?

  • added support for ESC Process Data Watchdog

  • extended ESC register access structure

  • only compile debugging messages, if debugging is active

  • moved print function for debugging to driver module (ec_drvPrint())

• DRIVER:

  • AM3359:

    • adapted driver to new stack version

    • use new EEPROM Emulation

  • Linux:

    • adapted driver to new stack version

  • RIN32M3:

    • adapted driver to new stack version

V1.3.4 (2014-09-01)

• added driver package for Renesas R-IN32M3

• added examples for Renesas R-IN32M3

V1.3.3 (2014-07-24)

• Drivers:

  • update TI am335x driver and examples for adaption and test with ICE Board
    Rev. 2.1A

V1.3.2 (2014-06-23)

• removed german comments

• fixed PDO mapping validation

• fixed handling of emergency message queue

• fixed handling of SDO Info Request

• fixed bug 660: renamed member bitSize to byteSize of struct EC_PDO_MAP_T

• added driver package for ti am335x

V1.3.1

• fixed possible crashes when using virtual objects and gaps in records/arrays

• fixed XILINX microblaze driver with new Design Tool

• adaption of examples for DesignTool 1.1

V1.3.0

• ObjectDictionary: objects can now be defined dynamically

• EoE: ec_eoeInitInd() is now called on startup

• Virtual objects: applied naming conventions to some functions

• NMT: Added support for BOOTSTRAP mode

• Support for compiling with GNU C++ compiler improved

• DC: Improved supervision of sync events

• Synchronization:

  • Reworked, application synchronization is now done on SM2, SM3 or DC, depending
    on the configuration

  • When no output data is available, the application synchronizes on SM3-event

  • When output data is available, the application synchronizes on SM2-event

  • Changed signature of function ec_syncInd() regarding update of input data

• DC: Separate ISR for PDI and SYNC, optionally can be unified

• HAL: Fixed byte order for process data on big endian targets

• DC: Additional options for the user, callback function introduced

• Optimizations in ISR *functions

• Removal of sprintf function calls

• Bugfix: for mailbox transmission, could lead to wrong length calculation

• Bugfix: Removed unused variables and warnings

V1.2.2

• PDI supervision (cyclic check for process data) added

• Fixed getObjectName function, when no names are supported

• Added missing prototypes

• Added new error codes

V1.2.1 (2011-11-04)

• add STM32 driver with SPI access

V1.2 (2011-09-22)

• add void parameter to function prototypes to avoid compiler warnings

• add SPI access mode

• routines for access to sii-prom

• foe indication parameter changed

• eoe indication added

• octet string handling added

• add check of PDO parameter mapping handling

V1.1 (2010-07-30)

• first version