English | 简体中文

CherryECAT

<a href="https://github.com/cherry-embedded/CherryECAT/releases"><img src="https://img.shields.io/github/release/cherry-embedded/CherryECAT.svg"></a>
<a href="https://github.com/cherry-embedded/CherryECAT/blob/master/LICENSE"><img src="https://img.shields.io/github/license/cherry-embedded/CherryECAT.svg?style=flat-square"></a>

CherryECAT is a tiny and beautiful, high real-time and low-jitter EtherCAT master stack, specially designed for MCUs running with RTOS.

Feature

~ 4K ram, ~32K flash(24K + 8K shell cmd + debug log)
Asynchronous queue-based transfer (one transfer can carry multiple datagrams)
Support hot-plugging
- Automatic scanning bus
- Automatic updating slave information when the topology changes
Support automatic monitoring slave status
Support distributed clocks
Support CANopen over EtherCAT(COE)
Support File over EtherCAT(FOE)
Support Ethernet over EtherCAT(EOE)
Support Slave SII access
Support Slave register access
Support multi master
Support backup redundancy
Minimum PDO cyclic time < 40 us (depends on master and slave hardware)
Support ethercat cmd with shell, ref to IgH

Hardware limitations

Master
- CPU (cache > 16K, memcpy speed > 100MB/s)
- ENET must support descriptor dma and iperf with lwip > 90 Mbps
- Code must run in ram, ignore if no dc
- Must support High-Precision Timer (jitter < 1us)
- Must support High-Precision timestamp (like ARM DWT)
- Must support long long print
Slave
- Must support COE
- Must support PDO assign
- Must support sdo complete access
- SII must have sync manager information