ethercrab-v0.5.0

Changed

• #216 PDU retries now use the same PDU index
  instead of allocating a new frame for every resend.

• #217 EEPROM strings must now be valid ASCII
  as per the EtherCAT specification. UTF-8 strings will return an error when read.

• (breaking) #218 Removed expected and
  got fields from Error::Wire(WireError::{Read,Write}BufferTooShort).

• (breaking) #218 Increase MSRV from 1.75
  to 1.77.

• (breaking) #227 Renamed many public
  items to use the newer EtherCAT terminology MainDevice and SubDevice for master/slave
  respectively.

  Type	Old	New
  enum	SlaveState	SubDeviceState
  fn	Client::num_slaves()	MainDevice::num_subdevices()
  fn	Ds402::slave()	Ds402::subdevice()
  fn	SlaveGroup::slave()	SubDeviceGroup::subdevice()
  mod	ethercrab::slave_group	ethercrab::subdevice_group
  struct	Client	MainDevice
  struct	ClientConfig	MainDeviceConfig
  struct	GroupSlaveIterator	GroupSubDeviceIterator
  struct	Slave	SubDevice
  struct	SlaveGroup	SubDeviceGroup
  struct	SlaveGroupRef	SubDeviceGroupRef
  struct	SlaveIdentity	SubDeviceIdentity
  struct	SlavePdi	SubDevicePdi
  struct	SlaveRef	SubDeviceRef
  variant	AlStatusCode::SlaveNeedsColdStart	AlStatusCode::SubDeviceNeedsColdStart
  variant	AlStatusCode::SlaveNeedsInit	AlStatusCode::SubDeviceNeedsInit
  variant	AlStatusCode::SlaveNeedsPreop	AlStatusCode::SubDeviceNeedsPreop
  variant	AlStatusCode::SlaveNeedsRestartedLocally	AlStatusCode::SubDeviceNeedsRestartedLocally
  variant	AlStatusCode::SlaveNeedsSafeop	AlStatusCode::SubDeviceNeedsSafeop
  variant	Error::UnknownSlave	Error::UnknownSubDevice

Added

• #162 Add support for FreeBSD and NetBSD
  using BPF.

ethercrab-v0.4.2

Added

• #213 (@jbbjarnason) Add alias_address
  method to Slave and SlaveRef to get a SubDevice's alias address.

ethercrab-v0.4.1

Fixed

• #208 Expose DcSupport enum at the crate
  root so it can be used by everyone.

ethercrab-wire-derive-v0.1.4

Fixed

• #207 Generate EtherCrabWireSized for
  write-only enums.

ethercrab-v0.4.0

Changed

• (breaking) #134 Bump MSRV to 1.75.0

• #134 Refactor sub device EEPROM reader to be
  more efficient when skipping sections of the device EEPROM map.

• (breaking) #142 Remove PduRead and
  PduData traits. These are replaced with EtherCrabWireRead and EtherCrabWireReadWrite traits
  respectively, along with EtherCrabWireReadWrite for write-only items.

  Some pertinent trait bounds changes in the public API:

  • SlaveRef::sdo_read from PduData to EtherCrabWireWrite
  • SlaveRef::sdo_write from PduData to EtherCrabWireReadSized
  • SlaveRef::register_read from PduData to EtherCrabWireWrite
  • SlaveRef::register_write from PduData to EtherCrabWireReadWrite

• (breaking) #144
  PduError::InvalidIndex(usize) is now a PduError::InvalidIndex(u8) as the EtherCAT index field
  is itself onl a u8.

• #151 Reduced overhead for EEPROM reads. Each
  chunk reader now only checks for and (attempt to) clear device errors once before reading a chunk
  of data, not for every chunk.

• #156 Update embassy-time from 0.2.0 to
  0.3.0.

• #181 PduStorage now stores complete
  Ethernet frames instead of building them on the fly. This adds a little more overhead to each
  slot, so the reserved data const parameter must be larger to compensate. Use the new
  PduStorage::element_size method to calculate element sizes based on a given maximum PDU payload
  value.

Added

• #141 Added the ethercat-wire and
  ethercat-wire-derive crates.

  These crates are EXPERIMENTAL. They may be improved for public use in the future but are
  currently designed around EtherCrab's internal needs and may be rough and/or buggy. Use with
  caution, and expect breaking changes.

• #141 Re-export the following traits from
  ethercrab-wire for dealing with packing/unpacking data:

  • EtherCrabWireRead
  • EtherCrabWireReadSized
  • EtherCrabWireReadWrite
  • EtherCrabWireSized
  • EtherCrabWireWrite

• #151 Add EepromError::ClearErrors variant.

• #152 Expose error::CoeAbortCode for
  matching on CoE transfer errors.

• #169 Linux only: add io_uring-based
  blocking TX/RX loop for better performance.

• #173 Add MUSL libc support.

• #178 Add Error::SubDevice to get a
  subdevice status code on failure.

• #180 Add PreOpPdi state, allowing access
  to a group's PDI whilst in PRE-OP.

• #180 Add ethercrab::std::ethercat_now
  function to get the current time in nanoseconds from the EtherCAT epoch of 2000-01-01.

• #194 Added SlaveGroup methods to
  facilitate graceful shutdown:

  • SlaveGroup<Op>::into_safe_op
  • SlaveGroup<SafeOp>::into_pre_op
  • SlaveGroup<PreOp>::into_init

  The ek1100 example shows these methods in use.

• #195 Add Register::DcCyclicUnitControl
  (0x0980).

• #193 Add
  SlaveGroup::<PreOp>::request_into_op to request all SubDevices in a group transition to OP, but
  does not wait for them to transition. Also add SlaveGroup::<Op>::all_op to check if all
  SubDevices in the group have reached OP state.

• #198 Add Error::DistributedClock(_) and
  DistributedClockError error variant and type to communicate DC errors.

• #198 Add
  SlaveGroup::tx_rx_sync_system_time, SlaveGroup::tx_rx_dc, SlaveRef::set_dc_sync and
  SlaveGroup::configure_dc_sync to support EtherCAT Distributed Clocks.

Fixed

• (breaking) (technically) #143 Fix typo
  in name AlStatusCode::ApplicationControllerAvailableI ->
  AlStatusCode::ApplicationControllerAvailable
• #152 CoE errors are not reported correctly
  from sdo_read and sdo_write.
• #194 SlaveGroup<PreOp>::into_op now
  transitions through SAFE-OP instead of illegally transitioning straight into OP.

Removed

• (breaking) #145 Remove the context
  field from Error::WorkingCounter. The output from EtherCrab's error logging should be used
  instead.
• (breaking) #181 Remove async
  SendableFrame::send. Use SendableFrame::send_blocking instead.
• #197 Remove SlaveGroupState trait. It is
  no longer required, but the same methods are available so migration should be as simple as just
  removing the import.

ethercrab-wire-v0.1.3

Added

• #183 Add support for encoding/decoding tuples up to 16 items long.

ethercrab-wire-derive-v0.1.3

No user-facing changes, just some internal improvements.

ethercrab-v0.4.0-rc.2

Release ethercrab v0.4.0-rc.2

v0.3.7

Fixed

• #183 Relax 'static bound for tx_rx_task
  on Windows.

v0.3.6

Added

• #167 Add support for reading/writing f32, f64 and bool. Note that f64 cannot currently be written using sdo_write as only 4 byte expedited transfers are currently supported.