Changelog

A pure Rust EtherCAT MainDevice supporting std and no_std environments.

Unreleased - ReleaseDate

Fixed

#315 (@ClarkZaitun) Read SubDevice status code from correct register when state transition fails.
#313 (@fpdotmonkey) Read actual CoE abort code instead of returning CoeAbortCode::Incompatible on SDO transfer failures.
#322 Set all configured addresses before initialising SubDevices, fixing an error when adding an existing powered on segment to the EtherCAT network.
#322 Use the same DC reference time to set SYNC0 start time, fixing offsets in SubDevices with 32 bit clocks.

Added

#310 Add support for XDP on Linux systems using the xdp feature.
#305 (@fpdotmonkey) Added SubDevice::sdo_info_object_description_list and SubDevice::sdo_info_object_quantities to get information about a SubDevice's SDOs.

Changed

(breaking) #298 Change MSRV from 1.81 to 1.85, migrate to edition 2024.
(breaking) #331 (@theol0403) Use lock_api traits to allow for different locking behaviour.
#301 No longer warn when mailbox counter is not what was sent by the MainDevice.
(breaking) #320 (@fpdotmonkey) Add TimeoutError to Error::Timeout to give a reason why a timeout occurred.
(breaking) #328 (@theol0403) Change MainDevice::init to require an empty groups structure to be passed in, instead of relying on a Default trait bound.
#330 (@theol0403) Stop re-reading potentially broken SyncManager types over CoE. Now the EEPROM is the source of truth for this information.
#354 (@prrn) Don't enable Sync Managers with a length of zero.

0.6.0 - 2025-03-29

Added

#234 Added SubDeviceRef::sdo_write_array to more cleanly write multiple SDO sub-indices and prevent mistakes.
#274 (@1cedsoda) Added SubDeviceRef::sdo_read_array to read all sub-indices from a given SDO.
#239 Add MailboxError::Emergency { error_code, error_register } variant to surface EMERGENCY responses from CoE transactions.
#246 Windows: Add tx_rx_task_blocking to use in a separate thread to send/receive EitherCAT frames.
#242 Add support for PDIs longer than a single PDU
(breaking) #269 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 Added SubDevice::set_alias_address and SubDeviceRef::set_alias_address to write an alias address to a SubDevice's EEPROM.
#278 Add SubDevice::{eeprom_read, eeprom_read_raw, eeprom_size, eeprom_write_dangerously} methods for working with a SubDevice's EEPROM.

Removed

(breaking) #260 The PduError::NoWaker variant has been removed as it is no longer used or returned by any EtherCrab method.
(breaking) #263 SubDeviceIterator is removed. The returned iterator's type signature is now impl Iterator<Item = SubDeviceRef<'group, ...>>
(breaking) #270 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 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 Remove Error::Borrow as it's no longer returned from any EtherCrab method.
(breaking) #287 Increase MSRV from 1.77 to 1.81.
#231 Enable reading of up to 64 PDO entries per PDO from EEPROM.
#232 Use string index from EEPROM to read device name instead of hard coding to the first string index.
#232 Add {SubDevice,SubDeviceRef}::description() method to get longer device name
#237 Read SubDevice group status in chunks of 16 devices to speed up group status reads.
#239 Mailbox emergency responses now return Error::Mailbox(MailboxError::Emergency) instead of being ignored.
#238 Group SubDevice status checks are now chunked into however many fit into a frame, instead of being sent separately.
#241 (@david-boles) During init, SMs and FMMUs are reset one-by-one instead of the entire block being written to.
(breaking) #246 PduRx::receive_frame now returns Result<ReceiveAction, Error> instead of Result<(), Error>.
(breaking) #269 SubDeviceGroup::tx_rx_* methods now return a TxRxResponse struct instead of a tuple.
#278 Add Deref and DerefMut impls for SubDeviceRef instead of copy/pasting methods from SubDevice.
#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 Fix overflowing subtraction panic when calculating DC cycle offset.
#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 Compute SM type using fallback data when EEPROM record is incomplete.

0.5.5 - 2025-03-21

Fixed

#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 Prevent overflow and infinite loops when reading empty or nearly-empty SubDevice EEPROMs.

0.5.3 - 2025-01-24

Added

#242 Add support for PDIs longer than a single PDU

0.5.2 - 2024-12-21

Removed

(breaking) #260 The PduError::NoWaker variant has been removed as it is no longer used or returned by any EtherCrab method.

Fixed

#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 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 Windows: Add tx_rx_task_blocking to use in a separate thread to send/receive EitherCAT frames.

Changed

(breaking) #248 PduRx::receive_frame now returns Result<ReceiveAction, Error> instead of Result<(), Error>.

0.5.0 - 2024-07-28

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.

Changed

#236 Change mailbox response validation to check index/subindex instead of returned counter.

0.4.3 - 2024-09-26

Changed

#236 Change mailbox response validation to check index/subindex instead of returned counter.

0.4.2 - 2024-05-27

Added

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

0.4.0 - 2024-03-31

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.

0.3.7 - 2024-03-12

Fixed

#183 Relax 'static bound for tx_rx_task on Windows.

0.3.6 - 2024-02-14

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.

0.3.5 - 2023-12-22

Changed

#135 macOS only: tx_rx_task now uses native networking (BPF) instead of libpcapng to improve reliability.
(breaking) #136 Fix unsoundness issue where SlaveRef::io_raw could be called multiple times, allowing multiple mutable references into the device's output data.
(breaking) #136 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 The mailbox counter is now per-device instead of global, fixing issues with many devices communicating over CoE.

Changed

#132 Revert #130 "Counter in mailbox response is no longer checked." as this was masking the root cause, which is now fixed.
(breaking) #132 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 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

(breaking) #124 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.

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.
(breaking) #101 SendableFrame::send_blocking and SendableFrame::send must now return the number of bytes sent over the network.
(breaking) #101 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.
(breaking) #109 Make all methods on PduLoop private.
(breaking) #113 Command::{code,address,parse} are no longer pub.
(breaking) #119 Changed SlaveState::Unknown to SlaveState::Other(u8) to better represent unknown or different states of multiple slaves (e.g. when sending a BRD).

Removed

(breaking) #99 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/joined 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
(breaking) #31 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

(breaking) #75 Client::request_slave_state is removed. Groups should be transitioned into the various states individually using into_op or into_safe_op.
(breaking) #75 SlaveGroup::new is removed. Slave groups can be created with SlaveGroup::default() instead
(breaking) #45 The SlaveGroupContainer trait is no longer needed and has been removed.

Changed

(breaking) #75 Client::init no longer takes a groups argument and now requires G: Default.
(breaking) #75 SlaveGroups no longer configure using a closure - instead use SlaveGroup::iter or SlaveGroup::slave to configure slave devices inline.
(breaking) #75 SlaveGroups 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.
(breaking) #47 SlaveGroup::slave and SlaveGroup::iter (was slaves) now requires the passing of a Client reference when called.
(breaking) #47 SlaveGroup::slaves is renamed to SlaveGroup::iter
(breaking) #47 Grouped slaves that were previously represented as GroupSlaves are now represented as SlaveRef<'_, SlavePdi<'_>> instead. GroupSlave is removed.
(breaking) #47 The io(), inputs() and outputs() methods on grouped slaves have been renamed to io_raw(), inputs_raw() and outputs_raw() respecitively.
(breaking) #47 The Slave.name and Slave.identity fields have been replaced with methods of the same name.
(breaking) #45 The grouping closure passed to Client::init now requires a &dyn SlaveGroupHandle to be returned. This is a sealed trait only implemented for SlaveGroups and allows some internal refactors by erasing the const generics from SlaveGroup.
(breaking) #32 To mitigate some internal issues, PduStorage now requires N (the number of storage elements) to be a power of two.
(breaking) #33 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.
(breaking) #30 Removed PduError::Encode variant.
(breaking) #25 Renamed pdu_rx to receive_frame to mirror send_frames_blocking.

(breaking) #20 Changed the way the client, tx and rx instances are initialised to only allow one TX and RX to exist.

Before

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

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();
}

(breaking) #16 Remove TIMER/TIMEOUT generic parameter. std environments will now use the timer provided by smol (async-io). no_std environments will use embassy-time.
(breaking) #9 Rename the fields of some variants in ethercrab::error::Error to make them less confusing.
(breaking) #2 Rename slave_group::Configurator to SlaveGroupRef.
(breaking) #1 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 🎉 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

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Changelog

Unreleased - ReleaseDate

Fixed

Added

Changed

0.6.0 - 2025-03-29

Added

Removed

Changed

Fixed

0.5.6 - 2025-03-28

Fixed

0.5.5 - 2025-03-21

Fixed

0.5.4 - 2025-03-20

Fixed

0.5.3 - 2025-01-24

Added

0.5.2 - 2024-12-21

Removed

Fixed

0.5.1 - 2024-11-26

Deprecated

Added

Changed

0.5.0 - 2024-07-28

Changed

Added

Changed

0.4.3 - 2024-09-26

Changed

0.4.2 - 2024-05-27

Added

0.4.1 - 2024-04-05

Fixed

0.4.0 - 2024-03-31

Changed

Added

Fixed

Removed

0.3.7 - 2024-03-12

Fixed

0.3.6 - 2024-02-14

Added

0.3.5 - 2023-12-22

Changed

0.3.4 - 2023-11-20

Fixed

Changed

0.3.3 - 2023-11-10

Changed

0.3.2 - 2023-11-02

Added

Fixed

Changed

0.3.1 - 2023-10-16

0.3.0 - 2023-10-12

Added

Changed

Removed

0.2.1 - 2023-07-31

Fixed

Added

Changed

0.2.0 - 2023-07-31

Added

Removed

Changed

Fixed

0.1.0 - 2023-01-02

Added