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ChangeLog
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ChangeLog
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IHMC EtherCAT Master 0.11.2
* Added timeout to shutdown loop.
IHMC EtherCAT Master 0.9.9
* Do not call workingCounterMismatch if the master is not operational yet.
IHMC EtherCAT Master 0.9.8
* Only read Elmo Twitter error code on motor fault, not on under voltage.
* Ability to disable error code read routine
IHMC EtherCAT Master 0.9.7
* Fixed secondary transfer timing check
IHMC EtherCAT Master 0.9.6
* Removed position following error
IHMC EtherCAT Master 0.9.5
* Small improvements in the Twitter code, added bus voltage reading and fixed error code reading
IHMC EtherCAT Master 0.9.4
* Added getter for all slaves from Master
IHMC EtherCAT Master 0.9.3
* More reporting functions to time ethercat state machine
IHMC EtherCAT Master 0.9.2
* Fix buffer underflow problem with SDO reads
IHMC EtherCAT Master 0.9.1
* Single threaded SDO reads
IHMC EtherCAT Master 0.9
* Removed separate thread for EtherCAT State machine due threading issues with the SOEM library
* EtherCATRealtimeThread will not run doControl till all slaves are online
* Fixed detection of DC Master clock
* Fixed cycle duration calculation
IHMC EtherCAT Master 0.8
* Put in some sleeps between SDO requests. This seems to improve startup behavior.
IHMC EtherCAT Master 0.7.2
* Added IHMC EtherCAT IMU slave
IHMC EtherCAT Master 0.7.1
* Fixed LLA Carrier board to use offsets instead of setpoints
IHMC EtherCAT Master 0.7
* Renamed EtherCATRealtimeThread.slavesNotResponding to WorkingCounterMismatch(int, int)
* Added function EtherCATRealtimeThread.datagramLost()
IHMC EtherCAT Master 0.6.8.1
* Disable SDO error
IHMC EtherCAT Master 0.6.8
* Disable CA for all slaves due bug https://github.com/OpenEtherCATsociety/SOEM/issues/50
* Re-enabled SDO error read for beast
IHMC EtherCAT Master 0.6.7
* PDO Watchdog configuration for slaves
IHMC EtherCAT Master 0.6.6
* Add option to do an extra EtherCAT transaction
IHMC EtherCAT Master 0.6.5
* Custom timeout parameter added for writing SDO from buffer
* Ability to write string (ASCII and UTF) to slave
IHMC EtherCAT Master 0.6.4
* Do not switch slaves back to INIT
IHMC EtherCAT Master 0.6.3
* Fixed error in BlueBox configuration due to read-only PDOs
* Fixed Omron GX-JC06 junction
IHMC EtherCAT Master 0.6.2
* Fixed configuration bug in ElmoTwitter
IHMC EtherCAT Master 0.6.1
* SDO reading fixes
* IHMC Blue Box code
IHMC EtherCAT Master 0.6
* Renamed getLastEtherCATTransactionTime and getLastIdleTime to getEtherCATTransactionTime and getIdleTime to better reflect what is measured.
* Added getters for the error of the actual arrival time and desired arrival time of the datagram at the first slave.
* Fixed endianness in SDO reading
* Renamed ReadSDO.update() to ReadSDO.requestNewData()
* Removed WriteSDO.isReady(). Replaced by WriteSDO.dataHasBeenWritten() and WriteSDO.canWriteData()
* Allow registration of SDOs with the Slave as well as the Master. This makes it easier to write Slave code with SDO objects.
* Register error code SDO in ElmoTwitter
* Make Elmo Error Codes public
* Disallow duplicate registration of the same SDO object
IHMC EtherCAT Master 0.5.1
* Added MasterInterface to support switching between Master and EtherCATRealtimeThread
* Added setAffinity delegate to EtherCATRealtimeThread
IHMC EtherCAT Master 0.5
* Created EtherCATRealtimeThread supporting both DC synchronization and free run
* Hide master from EtherCATRealtimeThread users, make delegates
* Default implementations for slave.shutdown()/slave.hasShutdown()/slave.configure()
* Improved error handling
* Have EtherCATRealtimeThread do loop control and shutdown control
* Renamed BooleanField to Bool
* Removed Javalution dependency
* Improved SlaveInfo
* Renamed us.ihmc.soem to us.ihmc.etherCAT
* Renamed us.ihmc.soem.wrapper to us.ihmc.etherCAT.master