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ethercat-linux/vendor/ethercrab/CHANGELOG.md
Tony Cao 21b2d3bf99 J1900 <-> TwinCAT 1 kHz verification over EL6695 bridge 
Re-implementation of rustbootd's ecat_el6695_* examples as a single binary
with fixes found in review and on hardware:

- DC-follow PLL hardened against period-2 hunting: slew-limited anchor
  (+/-50us/cycle), bistable-trap snap re-anchor, re-prime on stale deadline
- drift-free absolute-grid ticker mode; probe mode for timestamp forensics
- bounded-memory online stats (histograms), graceful SIGINT/SIGTERM shutdown
  with full report, error-streak abort
- timestamp plausibility filter comparing against the previous raw sample
  (avoids the deadlock after a startup outlier)
- XFC scope waveform options: --el2202 (with --el2202-dual), --el2262,
  --el1252 latch timestamp readback with per-channel edge statistics
- register access unified in regs.rs: named bit constants everywhere,
  read-modify-write for enable/activation bytes
- vendored patched ethercrab 0.7.1 (sdo_write_complete, send_raw_coe)

Verified on J1900 (PREEMPT_RT 6.6.135): 600k cycles/600s exact 1 kHz,
tx/rx zero errors, phase_err p50=164us std=5us; EL2202<->EL1252 loopback
edge interval mean 2000.24us std=24.65us.
2026-07-22 08:55:41 +08:00

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# Changelog
A pure Rust EtherCAT MainDevice supporting std and no_std environments.
<!-- next-header -->
## [Unreleased] - ReleaseDate
## [0.7.1] - 2026-03-23
### Fixed
- [#366](https://github.com/ethercrab-rs/ethercrab/pull/366) Publicly expose `DefaultLock` so crate
consumers can use it.
### Changed
- [#365](https://github.com/ethercrab-rs/ethercrab/pull/365) (@Dirreke) Add `io-uring` feature so
`io_uring` can be disabled for Linux platforms that don't support it. Example `Cargo.toml`:
```toml
ethercrab = { version = "0.8.0", default-features = false, features = [ "std" ] }
```
## [0.7.0] - 2026-03-16
### Fixed
- [#315](https://github.com/ethercrab-rs/ethercrab/pull/315) (@ClarkZaitun) Read SubDevice status
code from correct register when state transition fails.
- [#313](https://github.com/ethercrab-rs/ethercrab/pull/313) (@fpdotmonkey) Read actual CoE abort
code instead of returning `CoeAbortCode::Incompatible` on SDO transfer failures.
- [#322](https://github.com/ethercrab-rs/ethercrab/pull/322) Set all configured addresses before
initialising SubDevices, fixing an error when adding an existing powered on segment to the
EtherCAT network.
- [#322](https://github.com/ethercrab-rs/ethercrab/pull/322) Use the same DC reference time to set
SYNC0 start time, fixing offsets in SubDevices with 32 bit clocks.
### Added
- [#310](https://github.com/ethercrab-rs/ethercrab/pull/310) Add support for XDP on Linux systems
using the `xdp` feature.
- [#305](https://github.com/ethercrab-rs/ethercrab/pull/305) (@fpdotmonkey) Added
`SubDevice::sdo_info_object_description_list` and `SubDevice::sdo_info_object_quantities` to get
information about a SubDevice's SDOs.
- [#351](https://github.com/ethercrab-rs/ethercrab/pull/351) Added basic oversampling support with
`SubDevice::set_oversampling`.
### Changed
- [#298](https://github.com/ethercrab-rs/ethercrab/pull/298) **(breaking)** Change MSRV from 1.81 to
1.85, migrate to edition 2024.
- [#331](https://github.com/ethercrab-rs/ethercrab/pull/331) **(breaking)** (@theol0403) Use
`lock_api` traits to allow for different locking behaviour.
- [#301](https://github.com/ethercrab-rs/ethercrab/pull/301) No longer warn when mailbox counter is
not what was sent by the MainDevice.
- [#320](https://github.com/ethercrab-rs/ethercrab/pull/320) **(breaking)** (@fpdotmonkey) Add
`TimeoutError` to `Error::Timeout` to give a reason why a timeout occurred.
- [#328](https://github.com/ethercrab-rs/ethercrab/pull/328) **(breaking)** (@theol0403) Change
`MainDevice::init` to require an empty groups structure to be passed in, instead of relying on a
`Default` trait bound.
- [#330](https://github.com/ethercrab-rs/ethercrab/pull/330) (@theol0403) Stop re-reading
potentially broken SyncManager types over CoE. Now the EEPROM is the source of truth for this
information.
- [#354](https://github.com/ethercrab-rs/ethercrab/pull/354) (@prrn) Don't enable Sync Managers with
a length of zero.
- [#347](https://github.com/ethercrab-rs/ethercrab/pull/347) (@fpdotmonkey) Stop writing to register
`0x0980`. The prior behaviour was copied from SOEM. The register has very little documentation
about it and causes issues with some ABB drives, so any writes to it within EtherCrab are removed.
## [0.6.0] - 2025-03-29
### Added
- [#234](https://github.com/ethercrab-rs/ethercrab/pull/234) Added `SubDeviceRef::sdo_write_array`
to more cleanly write multiple SDO sub-indices and prevent mistakes.
- [#274](https://github.com/ethercrab-rs/ethercrab/pull/274) (@1cedsoda) Added
`SubDeviceRef::sdo_read_array` to read all sub-indices from a given SDO.
- [#239](https://github.com/ethercrab-rs/ethercrab/pull/239) Add
`MailboxError::Emergency { error_code, error_register }` variant to surface EMERGENCY responses
from CoE transactions.
- [#246](https://github.com/ethercrab-rs/ethercrab/pull/246) **Windows:** Add `tx_rx_task_blocking`
to use in a separate thread to send/receive EitherCAT frames.
- [#242](https://github.com/ethercrab-rs/ethercrab/pull/242) Add support for PDIs longer than a
single PDU
- [#269](https://github.com/ethercrab-rs/ethercrab/pull/269) **(breaking)**
`SubDeviceGroup::tx_rx_*` methods now read the state (PRE-OP, OP, etc) of each SubDevice in the
group, along with methods on `TxRxResponse` to test for various state conditions.
- [#273](https://github.com/ethercrab-rs/ethercrab/pull/273) Added `SubDevice::set_alias_address`
and `SubDeviceRef::set_alias_address` to write an alias address to a SubDevice's EEPROM.
- [#278](https://github.com/ethercrab-rs/ethercrab/pull/278) Add
`SubDevice::{eeprom_read, eeprom_read_raw, eeprom_size, eeprom_write_dangerously}` methods for
working with a SubDevice's EEPROM.
### Removed
- [#260](https://github.com/ethercrab-rs/ethercrab/pull/260) **(breaking)** The `PduError::NoWaker`
variant has been removed as it is no longer used or returned by any EtherCrab method.
- [#263](https://github.com/ethercrab-rs/ethercrab/pull/263) **(breaking)** `SubDeviceIterator` is
removed. The returned iterator's type signature is now
`impl Iterator<Item = SubDeviceRef<'group, ...>>`
- [#270](https://github.com/ethercrab-rs/ethercrab/pull/270) **(breaking)** **Windows:**
`tx_rx_task` is removed and replaced with `tx_rx_task_blocking` which is no longer `async`. It
must be spawned into its own thread instead of an async task.
### Changed
- [#263](https://github.com/ethercrab-rs/ethercrab/pull/263) `SubDeviceGroup` now wraps its PDI
storage in an internal spinlock to allow easier use across multiple tasks/threads, at the risk of
introducing deadlocks.
- [#263](https://github.com/ethercrab-rs/ethercrab/pull/263) Remove `Error::Borrow` as it's no
longer returned from any EtherCrab method.
- [#287](https://github.com/ethercrab-rs/ethercrab/pull/287) **(breaking)** Increase MSRV from 1.77
to 1.81.
- [#231](https://github.com/ethercrab-rs/ethercrab/pull/231) Enable reading of up to 64 PDO entries
per PDO from EEPROM.
- [#232](https://github.com/ethercrab-rs/ethercrab/pull/232) Use string index from EEPROM to read
device name instead of hard coding to the first string index.
- [#232](https://github.com/ethercrab-rs/ethercrab/pull/232) Add
`{SubDevice,SubDeviceRef}::description()` method to get longer device name
- [#237](https://github.com/ethercrab-rs/ethercrab/pull/237) Read SubDevice group status in chunks
of 16 devices to speed up group status reads.
- [#239](https://github.com/ethercrab-rs/ethercrab/pull/239) Mailbox emergency responses now return
`Error::Mailbox(MailboxError::Emergency)` instead of being ignored.
- [#238](https://github.com/ethercrab-rs/ethercrab/pull/238) Group SubDevice status checks are now
chunked into however many fit into a frame, instead of being sent separately.
- [#241](https://github.com/ethercrab-rs/ethercrab/pull/241) (@david-boles) During init, SMs and
FMMUs are reset one-by-one instead of the entire block being written to.
- [#246](https://github.com/ethercrab-rs/ethercrab/pull/246) **(breaking)** `PduRx::receive_frame`
now returns `Result<ReceiveAction, Error>` instead of `Result<(), Error>`.
- [#269](https://github.com/ethercrab-rs/ethercrab/pull/269) **(breaking)**
`SubDeviceGroup::tx_rx_*` methods now return a `TxRxResponse` struct instead of a tuple.
- [#278](https://github.com/ethercrab-rs/ethercrab/pull/278) Add `Deref` and `DerefMut` impls for
`SubDeviceRef` instead of copy/pasting methods from `SubDevice`.
- [#287](https://github.com/ethercrab-rs/ethercrab/pull/287) Change SM FMMU mapping fallback
behaviour to use the current SM's index instead of looking for the first FMMU of the correct
direction.
### Fixed
- [#229](https://github.com/ethercrab-rs/ethercrab/pull/229) Fix overflowing subtraction panic when
calculating DC cycle offset.
- [#260](https://github.com/ethercrab-rs/ethercrab/pull/260) Frames received before their future's
waker is registered will no longer trigger a `NoWaker` error.
## [0.5.6] - 2025-03-28
### Fixed
- [#294](https://github.com/ethercrab-rs/ethercrab/pull/294) Compute SM type using fallback data
when EEPROM record is incomplete.
## [0.5.5] - 2025-03-21
### Fixed
- [#291](https://github.com/ethercrab-rs/ethercrab/pull/291) Allow initialisation to progress
further for devices with empty EEPROMs by falling back to defaults if config data cannot be found.
## [0.5.4] - 2025-03-20
### Fixed
- [#288](https://github.com/ethercrab-rs/ethercrab/pull/288) Prevent overflow and infinite loops
when reading empty or nearly-empty SubDevice EEPROMs.
## [0.5.3] - 2025-01-24
### Added
- [#242](https://github.com/ethercrab-rs/ethercrab/pull/242) Add support for PDIs longer than a
single PDU
## [0.5.2] - 2024-12-21
### Removed
- [#260](https://github.com/ethercrab-rs/ethercrab/pull/260) **(breaking)** The `PduError::NoWaker`
variant has been removed as it is no longer used or returned by any EtherCrab method.
### Fixed
- [#260](https://github.com/ethercrab-rs/ethercrab/pull/260) Frames received before their future's
waker is registered will no longer trigger a `NoWaker` error.
## [0.5.1] - 2024-11-26
### Deprecated
- [#248](https://github.com/ethercrab-rs/ethercrab/pull/248) **Windows:** `tx_rx_task` is replaced
with `tx_rx_task_blocking` which is no longer `async`. It must be spawned into its own thread
instead of an async task. `tx_rx_task` will be removed in a future release.
### Added
- [#248](https://github.com/ethercrab-rs/ethercrab/pull/248) **Windows:** Add `tx_rx_task_blocking`
to use in a separate thread to send/receive EitherCAT frames.
### Changed
- [#248](https://github.com/ethercrab-rs/ethercrab/pull/248) **(breaking)** `PduRx::receive_frame`
now returns `Result<ReceiveAction, Error>` instead of `Result<(), Error>`.
## [0.5.0] - 2024-07-28
### Changed
- [#216](https://github.com/ethercrab-rs/ethercrab/pull/216) PDU retries now use the same PDU index
instead of allocating a new frame for every resend.
- [#217](https://github.com/ethercrab-rs/ethercrab/pull/217) EEPROM strings must now be valid ASCII
as per the EtherCAT specification. UTF-8 strings will return an error when read.
- [#218](https://github.com/ethercrab-rs/ethercrab/pull/218) **(breaking)** Removed `expected` and
`got` fields from `Error::Wire(WireError::{Read,Write}BufferTooShort)`.
- [#218](https://github.com/ethercrab-rs/ethercrab/pull/218) **(breaking)** Increase MSRV from 1.75
to 1.77.
- [#227](https://github.com/ethercrab-rs/ethercrab/pull/227) **(breaking)** 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](https://github.com/ethercrab-rs/ethercrab/pull/162) Add support for FreeBSD and NetBSD
using BPF.
### Changed
- [#236](https://github.com/ethercrab-rs/ethercrab/pull/236) Change mailbox response validation to
check index/subindex instead of returned counter.
## [0.4.3] - 2024-09-26
### Changed
- [#236](https://github.com/ethercrab-rs/ethercrab/pull/236) Change mailbox response validation to
check index/subindex instead of returned counter.
## [0.4.2] - 2024-05-27
### Added
- [#213](https://github.com/ethercrab-rs/ethercrab/pull/213) (@jbbjarnason) Add `alias_address`
method to `Slave` and `SlaveRef` to get a SubDevice's alias address.
## [0.4.1] - 2024-04-05
### Fixed
- [#208](https://github.com/ethercrab-rs/ethercrab/pull/208) Expose `DcSupport` enum at the crate
root so it can be used by everyone.
## [0.4.0] - 2024-03-31
### Changed
- [#134](https://github.com/ethercrab-rs/ethercrab/pull/134) **(breaking)** Bump MSRV to 1.75.0
- [#134](https://github.com/ethercrab-rs/ethercrab/pull/134) Refactor sub device EEPROM reader to be
more efficient when skipping sections of the device EEPROM map.
- [#142](https://github.com/ethercrab-rs/ethercrab/pull/142) **(breaking)** 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`
- [#144](https://github.com/ethercrab-rs/ethercrab/pull/144) **(breaking)**
`PduError::InvalidIndex(usize)` is now a `PduError::InvalidIndex(u8)` as the EtherCAT index field
is itself onl a `u8`.
- [#151](https://github.com/ethercrab-rs/ethercrab/pull/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](https://github.com/ethercrab-rs/ethercrab/pull/156) Update `embassy-time` from 0.2.0 to
0.3.0.
- [#181](https://github.com/ethercrab-rs/ethercrab/pull/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](https://github.com/ethercrab-rs/ethercrab/pull/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](https://github.com/ethercrab-rs/ethercrab/pull/141) Re-export the following traits from
`ethercrab-wire` for dealing with packing/unpacking data:
- `EtherCrabWireRead`
- `EtherCrabWireReadSized`
- `EtherCrabWireReadWrite`
- `EtherCrabWireSized`
- `EtherCrabWireWrite`
- [#151](https://github.com/ethercrab-rs/ethercrab/pull/151) Add `EepromError::ClearErrors` variant.
- [#152](https://github.com/ethercrab-rs/ethercrab/pull/152) Expose `error::CoeAbortCode` for
matching on CoE transfer errors.
- [#169](https://github.com/ethercrab-rs/ethercrab/pull/169) Linux only: add `io_uring`-based
blocking TX/RX loop for better performance.
- [#173](https://github.com/ethercrab-rs/ethercrab/pull/173) Add MUSL libc support.
- [#178](https://github.com/ethercrab-rs/ethercrab/pull/178) Add `Error::SubDevice` to get a
subdevice status code on failure.
- [#180](https://github.com/ethercrab-rs/ethercrab/pull/#180) Add `PreOpPdi` state, allowing access
to a group's PDI whilst in `PRE-OP`.
- [#180](https://github.com/ethercrab-rs/ethercrab/pull/#180) Add `ethercrab::std::ethercat_now`
function to get the current time in nanoseconds from the EtherCAT epoch of 2000-01-01.
- [#194](https://github.com/ethercrab-rs/ethercrab/pull/#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](https://github.com/ethercrab-rs/ethercrab/pull/#195) Add `Register::DcCyclicUnitControl`
(0x0980).
- [#193](https://github.com/ethercrab-rs/ethercrab/pull/#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](https://github.com/ethercrab-rs/ethercrab/pull/#198) Add `Error::DistributedClock(_)` and
`DistributedClockError` error variant and type to communicate DC errors.
- [#198](https://github.com/ethercrab-rs/ethercrab/pull/#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
- [#143](https://github.com/ethercrab-rs/ethercrab/pull/143) **(breaking)** (technically) Fix typo
in name `AlStatusCode::ApplicationControllerAvailableI` ->
`AlStatusCode::ApplicationControllerAvailable`
- [#152](https://github.com/ethercrab-rs/ethercrab/pull/152) CoE errors are not reported correctly
from `sdo_read` and `sdo_write`.
- [#194](https://github.com/ethercrab-rs/ethercrab/pull/194) `SlaveGroup<PreOp>::into_op` now
transitions through SAFE-OP instead of illegally transitioning straight into OP.
### Removed
- [#145](https://github.com/ethercrab-rs/ethercrab/pull/145) **(breaking)** Remove the `context`
field from `Error::WorkingCounter`. The output from EtherCrab's error logging should be used
instead.
- [#181](https://github.com/ethercrab-rs/ethercrab/pull/181) **(breaking)** Remove async
`SendableFrame::send`. Use `SendableFrame::send_blocking` instead.
- [#197](https://github.com/ethercrab-rs/ethercrab/pull/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.
## [0.3.7] - 2024-03-12
### Fixed
- [#183](https://github.com/ethercrab-rs/ethercrab/pull/183) Relax `'static` bound for `tx_rx_task`
on Windows.
## [0.3.6] - 2024-02-14
### Added
- [#167](https://github.com/ethercrab-rs/ethercrab/pull/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.
## [0.3.5] - 2023-12-22
### Changed
- [#135](https://github.com/ethercrab-rs/ethercrab/pull/135) macOS only: `tx_rx_task` now uses
native networking (BPF) instead of `libpcapng` to improve reliability.
- [#136](https://github.com/ethercrab-rs/ethercrab/pull/136) **(breaking)** Fix unsoundness issue
where `SlaveRef::io_raw` could be called multiple times, allowing multiple mutable references into
the device's output data.
- [#136](https://github.com/ethercrab-rs/ethercrab/pull/136) **(breaking)** Rename
`SlaveRef::io_raw` to `SlaveRef::io_raw_mut`. `SlaveRef::io_raw` remains, but now only returns
non-mutable references to both the device inputs and outputs.
Also renames `SlaveRef::outputs_raw` to `SlaveRef::outputs_raw_mut`. `SlaveRef::outputs` now
returns a non-mutable reference to the device output data.
## [0.3.4] - 2023-11-20
### Fixed
- [#132](https://github.com/ethercrab-rs/ethercrab/pull/132) The mailbox counter is now per-device
instead of global, fixing issues with many devices communicating over CoE.
### Changed
- [#132](https://github.com/ethercrab-rs/ethercrab/pull/132) Revert
[#130](https://github.com/ethercrab-rs/ethercrab/pull/130) "Counter in mailbox response is no
longer checked." as this was masking the root cause, which is now fixed.
- [#132](https://github.com/ethercrab-rs/ethercrab/pull/132) **(breaking)** `Slave` no longer
implements `Clone` or `PartialEq`. Devices should instead be compared using `name()`,
`identity()`, `configured_address()`, etc.
## [0.3.3] - 2023-11-10
### Changed
- [#130](https://github.com/ethercrab-rs/ethercrab/pull/130) Counter in mailbox response is no
longer checked.
## [0.3.2] - 2023-11-02
### Added
- [#122] Added `Slave{Ref}::propagation_delay()` to get the EtherCAT propagation delay for a
specific device on the network.
- [#126] Implement `PduRead` and `PduData` for `[u8; N]`.
### Fixed
- [#121] **Linux only:** Relax `'static` lifetime requirement on `std::tx_rx_task` to a named
lifetime to allow non-`'static` storage to be used.
- [#124] Fixed some spurious panics from race conditions by using atomic wakers.
- [#127] Improve frame allocation reliability when contention is high.
### Changed
- [#124] **(breaking)** Changed `PduTx::waker()` to `PduTx::replace_waker()`. Instead of calling
e.g. `pdu_tx.waker().replace(ctx.waker().clone())`, now it should be
`pdu_tx.replace_waker(ctx.waker())`.
- (potentially breaking) [#125] Package upgrades, notably `async_io` and `futures_lite` from 1.x to
2.0.
## [0.3.1] - 2023-10-16
## [0.3.0] - 2023-10-12
### Added
- [#91] Add support for "cross" topologies, e.g. with EK1122.
- [#102] PDU retry behaviour is now configurable between no retries, a limited count, or retrying
forever with the `RetryBehaviour` struct and associated `ClientConfig.retry_behaviour` option.
- [#103] Added optional `serde` feature to enable ser/de of some EtherCrab items.
- [#104] Implement `std::error::Error` for `ethercrab::error::Error` when the `std` feature is
enabled.
- [#107] Add watchdog fields to `Register` enum: `WatchdogDivider`, `PdiWatchdog`
`SyncManagerWatchdog`, `SyncManagerWatchdogStatus` `SyncManagerWatchdogCounter`,
`PdiWatchdogCounter`.
- [#113] `SlaveState` now implements `PduRead` so can now be read directly, e.g.
```rust
let (status, _wkc) =
Command::fprd(slave.configured_address(), RegisterAddress::AlStatus.into())
.receive::<SlaveState>(&client)
.await?;
```
### Changed
- [#92] If no slave devices are detected, `Client::init` will no longer exit with an error.
- [#101] **(breaking)** `SendableFrame::send_blocking` and `SendableFrame::send` must now return the
number of bytes sent over the network.
- [#101] **(breaking)** `SendableFrame::write_ethernet_packet` is no longer `pub`. Instead, use
`SendableFrame::send_blocking` or `SendableFrame::send`.
- [#103] Removed inner `smoltcp::error::Error` from `PduError::Ethernet` and `PduError::CreateFrame`
as these don't add much meaning to the variant.
- [#109] **(breaking)** Make all methods on `PduLoop` private.
- [#113] **(breaking)** `Command::{code,address,parse}` are no longer `pub`.
- [#119] **(breaking)** Changed `SlaveState::Unknown` to `SlaveState::Other(u8)` to better represent
unknown or different states of multiple slaves (e.g. when sending a `BRD`).
### Removed
- [#99] **(breaking)** All PDU methods on `Client` (`Client::bwr`, `Client::fprd`) have been
removed. Instead, use the same methods on `Command` like `Command::bwr`, `Command::fprd` etc.
## [0.2.1] - 2023-07-31
### Fixed
- [#84] `GroupSlave::iter` will now panic instead of completing early if a slave device is already
borrowed.
- [#114] The `std` TX/RX future now consumes any queued packets, not just the first one. This fixes
PDU timeout issues with `zip`/`join`ed futures.
### Added
- [#83] Add `SlaveRef::identity` method to get the vendor ID, hardware revision, etc of a slave
device.
- [#86] Expose the `SlaveIdentity` struct.
### Changed
- [#84] The `SlaveGroupState` trait is now not-doc-hidden so the `GroupSlave::slave` method is more
easily accessible.
## [0.2.0] - 2023-07-31
### Added
- [#47] Add the ability to read/write registers/SDOs from grouped slave devices, with the methods
`SlaveRef::register_read`, `SlaveRef::register_write`, `SlaveRef::sdo_read` and
`SlaveRef::sdo_write`.
- [#30] Added `Copy`, `Clone`, `PartialEq` and `Eq` implementations to `Error` and `PduError`.
- [#1] Added `SlaveGroup::len` and `SlaveGroup::is_empty` methods.
- [#29] Implement `Display` for `Error`, `PduError`, `MailboxError`, `EepromError`,
`VisibleStringError` and `PduValidationError`
- [#31] **(breaking)** Added a `ClientConfig` argument to `Client::new` to allow configuration of
various EtherCrab behaviours.
- [#55] Added `Client::init_single_group` to reduce boilerplate when only using a single group of
devices.
- [#55] Removed MSRV commitment (was 1.68)
- [#59] Added `SendableFrame::send_blocking` method.
### Removed
- [#75] **(breaking)** `Client::request_slave_state` is removed. Groups should be transitioned into
the various states individually using `into_op` or `into_safe_op`.
- [#75] **(breaking)** `SlaveGroup::new` is removed. Slave groups can be created with
`SlaveGroup::default()` instead
- [#45] **(breaking)** The `SlaveGroupContainer` trait is no longer needed and has been removed.
### Changed
- [#75] **(breaking)** `Client::init` no longer takes a `groups` argument and now requires
`G: Default`.
- [#75] **(breaking)** `SlaveGroup`s no longer configure using a closure - instead use
`SlaveGroup::iter` or `SlaveGroup::slave` to configure slave devices inline.
- [#75] **(breaking)** `SlaveGroup`s now have a type state. Use `into_safe_op` and `into_op` to
transition from PRE-OP as provided by `Client::init` into run mode.
- [#47] Slave `sdo_read` and `sdo_write` methods no longer require the use of `SubIndex`. For single
accesses, a raw `u8` can be passed instead for cleaner configuration code.
- [#47] **(breaking)** `SlaveGroup::slave` and `SlaveGroup::iter` (was `slaves`) now requires the
passing of a `Client` reference when called.
- [#47] **(breaking)** `SlaveGroup::slaves` is renamed to `SlaveGroup::iter`
- [#47] **(breaking)** Grouped slaves that were previously represented as `GroupSlave`s are now
represented as `SlaveRef<'_, SlavePdi<'_>>` instead. `GroupSlave` is removed.
- [#47] **(breaking)** The `io()`, `inputs()` and `outputs()` methods on grouped slaves have been
renamed to `io_raw()`, `inputs_raw()` and `outputs_raw()` respecitively.
- [#47] **(breaking)** The `Slave.name` and `Slave.identity` fields have been replaced with methods
of the same name.
- [#45] **(breaking)** The grouping closure passed to `Client::init` now requires a
`&dyn SlaveGroupHandle` to be returned. This is a sealed trait only implemented for `SlaveGroup`s
and allows some internal refactors by erasing the const generics from `SlaveGroup`.
- [#32] **(breaking)** To mitigate some internal issues, `PduStorage` now requires `N` (the number
of storage elements) to be a power of two.
- [#33] **(breaking)** `send_frames_blocking` is removed. It is replaced with
`PduTx::next_sendable_frame` which can be used to send any available frames in a loop until it
returns `None`.
- [#30] **(breaking)** Removed `PduError::Encode` variant.
- [#25] **(breaking)** Renamed `pdu_rx` to `receive_frame` to mirror `send_frames_blocking`.
- [#20] **(breaking)** Changed the way the client, tx and rx instances are initialised to only allow
one TX and RX to exist.
Before
```rust
static PDU_STORAGE: PduStorage<MAX_FRAMES, MAX_PDU_DATA> = PduStorage::new();
static PDU_LOOP: PduLoop = PduLoop::new(PDU_STORAGE.as_ref());
async fn main_app(ex: &LocalExecutor<'static>) -> Result<(), Error> {
let client = Arc::new(Client::new(&PDU_LOOP, Timeouts::default()));
ex.spawn(tx_rx_task(INTERFACE, &client).unwrap()).detach();
}
```
After
```rust
static PDU_STORAGE: PduStorage<MAX_FRAMES, MAX_PDU_DATA> = PduStorage::new();
async fn main_app(ex: &LocalExecutor<'static>) -> Result<(), Error> {
let (tx, rx, pdu_loop) = PDU_STORAGE.try_split().expect("can only split once");
let client = Arc::new(Client::new(pdu_loop, Timeouts::default()));
ex.spawn(tx_rx_task(INTERFACE, tx, rx).unwrap()).detach();
}
```
- [#16] **(breaking)** Remove `TIMER`/`TIMEOUT` generic parameter. `std` environments will now use
the timer provided by `smol` (`async-io`). `no_std` environments will use `embassy-time`.
- [#9] **(breaking)** Rename the fields of some variants in `ethercrab::error::Error` to make them
less confusing.
- [#2] **(breaking)** Rename `slave_group::Configurator` to `SlaveGroupRef`.
- [#1] **(breaking)** `SlaveGroup::slaves` now returns an iterator over each slave with IO in the
group, instead of a plain slave.
### Fixed
- [#28] Fix abort code parsing for expedited SDO responses.
- [#26] :tada: EtherCrab now works on stable Rust. The MSRV is 1.68.
- [#23] Strip trailing null bytes (`\0`) in strings read from SII
- [#14] Fixed various overflow/arithmetic bugs in distributed clock time calculations and PDI
configuration
- [#6] Fixed topology detection not stopping at first upstream fork when there is a slave device
before the fork.
- [#6] Internal bugfixes to topology discovery code.
- [#2] Fixed multiple group PDI mapping calculation during initialisation.
- [#57] Fixed a buffer size calculation crash when reading SDOs.
## [0.1.0] - 2023-01-02
### Added
- Initial release
<!-- next-url -->
[unreleased]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.7.1...HEAD
[0.7.1]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.7.0...ethercrab-v0.7.1
[0.7.0]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.6.0...ethercrab-v0.7.0
[0.6.0]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.5.6...ethercrab-v0.6.0
[0.5.6]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.5.5...ethercrab-v0.5.6
[0.5.5]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.5.4...ethercrab-v0.5.5
[0.5.4]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.5.3...ethercrab-v0.5.4
[0.5.3]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.5.2...ethercrab-v0.5.3
[0.5.2]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.5.1...ethercrab-v0.5.2
[0.5.1]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.5.0...ethercrab-v0.5.1
[0.5.0]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.4.2...ethercrab-v0.5.0
[0.4.3]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.4.2...ethercrab-v0.4.3
[0.4.2]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.4.1...ethercrab-v0.4.2
[0.4.1]: https://github.com/ethercrab-rs/ethercrab/compare/ethercrab-v0.4.0...ethercrab-v0.4.1
[0.4.0]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.6...ethercrab-v0.4.0
[0.3.7]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.6...v0.3.7
[0.3.6]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.5...v0.3.6
[0.3.5]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.4...v0.3.5
[0.3.4]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.3...v0.3.4
[0.3.3]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.2...v0.3.3
[0.3.4]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.2...v0.3.4
[0.3.2]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.0...v0.3.2
[0.3.1]: https://github.com/ethercrab-rs/ethercrab/compare/v0.3.0...v0.3.1
[0.3.0]: https://github.com/ethercrab-rs/ethercrab/compare/v0.2.1...v0.3.0
[0.2.1]: https://github.com/ethercrab-rs/ethercrab/compare/v0.2.0...v0.2.1
[#2]: https://github.com/ethercrab-rs/ethercrab/pull/2
[#1]: https://github.com/ethercrab-rs/ethercrab/pull/1
[#6]: https://github.com/ethercrab-rs/ethercrab/pull/6
[#9]: https://github.com/ethercrab-rs/ethercrab/pull/9
[#14]: https://github.com/ethercrab-rs/ethercrab/pull/14
[#16]: https://github.com/ethercrab-rs/ethercrab/pull/16
[#23]: https://github.com/ethercrab-rs/ethercrab/pull/23
[#20]: https://github.com/ethercrab-rs/ethercrab/pull/20
[#25]: https://github.com/ethercrab-rs/ethercrab/pull/25
[#26]: https://github.com/ethercrab-rs/ethercrab/pull/26
[#28]: https://github.com/ethercrab-rs/ethercrab/pull/28
[#29]: https://github.com/ethercrab-rs/ethercrab/pull/29
[#30]: https://github.com/ethercrab-rs/ethercrab/pull/30
[#31]: https://github.com/ethercrab-rs/ethercrab/pull/31
[#32]: https://github.com/ethercrab-rs/ethercrab/pull/32
[#33]: https://github.com/ethercrab-rs/ethercrab/pull/33
[#45]: https://github.com/ethercrab-rs/ethercrab/pull/45
[#47]: https://github.com/ethercrab-rs/ethercrab/pull/47
[#55]: https://github.com/ethercrab-rs/ethercrab/pull/55
[#59]: https://github.com/ethercrab-rs/ethercrab/pull/59
[#75]: https://github.com/ethercrab-rs/ethercrab/pull/75
[#83]: https://github.com/ethercrab-rs/ethercrab/pull/83
[#84]: https://github.com/ethercrab-rs/ethercrab/pull/84
[#86]: https://github.com/ethercrab-rs/ethercrab/pull/86
[#91]: https://github.com/ethercrab-rs/ethercrab/pull/91
[#92]: https://github.com/ethercrab-rs/ethercrab/pull/92
[#99]: https://github.com/ethercrab-rs/ethercrab/pull/99
[#101]: https://github.com/ethercrab-rs/ethercrab/pull/101
[#102]: https://github.com/ethercrab-rs/ethercrab/pull/102
[#103]: https://github.com/ethercrab-rs/ethercrab/pull/103
[#104]: https://github.com/ethercrab-rs/ethercrab/pull/104
[#107]: https://github.com/ethercrab-rs/ethercrab/pull/107
[#109]: https://github.com/ethercrab-rs/ethercrab/pull/109
[#113]: https://github.com/ethercrab-rs/ethercrab/pull/113
[#114]: https://github.com/ethercrab-rs/ethercrab/pull/114
[#119]: https://github.com/ethercrab-rs/ethercrab/pull/119
[#121]: https://github.com/ethercrab-rs/ethercrab/pull/121
[#122]: https://github.com/ethercrab-rs/ethercrab/pull/122
[#124]: https://github.com/ethercrab-rs/ethercrab/pull/124
[#125]: https://github.com/ethercrab-rs/ethercrab/pull/125
[#126]: https://github.com/ethercrab-rs/ethercrab/pull/126
[#127]: https://github.com/ethercrab-rs/ethercrab/pull/127
[0.2.0]: https://github.com/ethercrab-rs/ethercrab/compare/v0.1.0...v0.2.0
[0.1.0]: https://github.com/ethercrab-rs/ethercrab/compare/fb37346...v0.1.0
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