VS EtherCAT Master 2 for Xenomai released

Introducing the latest release 2.6.3506 of VS EtherCAT Master 2 for Xenomai. Since release 2.6.1602, this release comes with an assortment of new features and enhancements, all tailored to boost the performance and capabilities of user solutions:

• Automatic DC slaves calculation
  Added automatic calculation of number DC slaves to be processed simultaneously, by loaded ENI file.

• DC offset calculation
  DC offset calculation in chunks has been added. Limit of the number of DC slaves to be processed simultaneously is set with a new dc.slave.processing.count INI parameter.

• Mailbox size verification
  Added mailbox default read size. Its value equals a value of a new mailbox.defaultreadsize INI parameter. The size of mailbox header, 6 bytes, is used as a default value of this parameter.

• Instrumented build
  From now on it is possible to switch Master to instrumented build that allows to get kernel traces.

• Process Image Client invalidation
  Added change of the Process Image (PI) Client status to invalid on ENI reload in Master core. And also, added callback PARAM_PI_INVALIDATED_NOTIFICATION to PI Processor and PI Client Processor to notify user about PI Processor (or PI Client) going into invalid state after ENI reloading. Those invalid processors will be destroyed by application. To show usage of new callback we provide a new sample 54_InvalidProcessImage.

• Process Image Client overflow
  Added callbacks PARAM_PI_ON_OVERFLOW and PARAM_PICLIENT_ON_OVERFLOW to Process Image (PI) Processor and PI Client Processor to notify user about PI Processor (or PI Client) overflow (read and write). To show usage of callbacks on PI Processor read and write overflow we provide a new sample 53_ProcessImageOverflow.

• DC description in API Help
  A description of Distributed Clock (DC) functionality has been added to API Help. It includes the common notes, steps of the DC initialization procedure, slave synchronization and external synchronization. You can find the corresponding page in the Master features section.

• Package names update
  Master package names (MDK, MRT, MIP) have been updated. The toolchain settings were added to package names.