36 lines
1.2 KiB
Markdown
36 lines
1.2 KiB
Markdown
Simple Open Source EtherCAT Slave
|
|
====
|
|
[](https://github.com/OpenEtherCATsociety/SOES/actions?workflow=build)
|
|
|
|
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.
|
|
|
|
Overview
|
|
----
|
|
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
|
|
|
|
TODO
|
|
- Update documentation
|
|
- Add EoE sample application
|