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nakarlsson 2fd5088fea
Merge pull request #100 from m-dema/patch-1
3 months ago
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applications Regenerate rtl_xmc4_dynpdo 5 months ago
cmake add sample application for dynamic pdos 2 years ago
drivers/linux/lan9252 linux lan9252 driver source cleanup 3 years ago
soes Fix inconsistent function name 3 months ago
.gitattributes Normalize line endings (#27) 4 years ago
.gitignore Update applications to SOES v3.0 2 years ago
CMakeLists.txt bump version to 3.0.0 2 years ago
LICENSE Put a brief license info in source files and bump version 4 years ago Migrate to Github Actions 5 months ago Normalize line endings (#27) 4 years ago

Simple Open Source EtherCAT Slave

Build Status

SOES (Simple OpenSource EtherCAT Slave Stack) is an opensource slave stack that is very easy to use and provides a small footprint. It is a good alternative to more complex stacks on the market.


SOES is an EtherCAT slave stack written in c. Its purpose is to learn and to use. All users are invited to study the source to get an understanding how an EtherCAT slave functions.

Feature list:

  • Address offset based HAL for easy ESC read/write access via any interface
  • Mailbox with data link layer
  • CoE
  • Object dictionary
  • SDO read and write for all sizes including segmented transfers
  • Easy portable C-code suited for embedded applications
  • Fixed and/or dynamic PDO mapping
  • FoE with bootstrap template
  • Support for Little and Big endian targets
  • Run polling, mixed polling/interrupt or interrupt
  • Support for SM Synchronization
  • Support DC sync0 and DC Synchronization
  • Add stack configuration via new configuration parameter to/or from "stack"_init
  • EoE


  • Update documentation
  • Add EoE sample application