File	Date	Author	Commit
arduino	2014-10-31	raz	[ec0165] one slave ok
include	2013-05-09	raz	[48410f] types and packing
kernel	2013-05-13	raz	[efbdbe] somehow socket protocol was added to master bra...
stack	2014-11-05	raz	[3e2f3e] product code 4
user	2015-06-24	raz benyuda	[13f4ba] fix for Ubuntu 14.04 LTS
virtual_slave	2012-12-15	raz	[276190] DC example
AUTHORS	2012-10-21	raz	[92e5ba] Initial commit
COPYING	2012-10-21	raz	[92e5ba] Initial commit
ChangeLog	2012-10-21	raz	[92e5ba] Initial commit
INSTALL	2014-10-31	raz	[ec0165] one slave ok
Makefile.am	2015-06-20	raz benyuda	[6e781c] split LDFLAGS and LDADD as new automake demands
Makefile.in	2014-10-31	raz	[ec0165] one slave ok
NEWS	2012-10-21	raz	[92e5ba] Initial commit
README	2013-05-06	raz	[465e14] typo
aclocal.m4	2014-10-31	raz	[ec0165] one slave ok
compile	2014-10-31	raz	[ec0165] one slave ok
configure	2014-10-31	raz	[ec0165] one slave ok
configure.ac	2015-06-20	raz benyuda	[4981a1] automake 1.14 on LTS 14.
depcomp	2014-10-31	raz	[ec0165] one slave ok
install-sh	2014-10-31	raz	[ec0165] one slave ok
missing	2014-10-31	raz	[ec0165] one slave ok

Read Me

	Light Ethercat Slave

ecslave comes in three flavors:
1.  linux user space 
2.  linux kernel drive.
3.  stack for arduino.

The user space is meant to be used as a tool for debugging 
the ethercat stack. The kernel module is aimed to provide a 
low latency respnosiveness. Arduino is part of a larget suite 
aimed to create cheap robot kits ( ~100$, controller with a single drive).

	User space design

in short, two threads, each thread is in charge of capturing packets
from its assigned network device and passing them to the ethercat protocol
if needed.

	Kernel space Design

This module is composed from several software components.
1. the ethercat stack. 
2. ethercat sockets
3. user space task executing in preempt rt kernel. 

Ethercat packet flow is ring toplogy. when a ring can is implemented
on a full duplex ehtercat cards so it actually a line. 


	TX path
master.. --> rx interface -->  slave --> tx interface .... ___
							      |
	RX path						      |
				 		    	      |
master.. <--  rx interface <-- slave <---tx interface <-... __|
 
	Arduino

only ethercat stack is implemeted. User has to add his own code.