CherryECAT

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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>
<a href="https://github.com/cherry-embedded/CherryECAT/actions/workflows/build_demo.yml"><img src="https://github.com/cherry-embedded/CherryECAT/actions/workflows/build_demo.yml/badge.svg"> </a>

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

Feature

• RTOS only, do not support Linux and windows (designed to contrast with the latter)
• ~ 4K ram, ~40K flash(24K + 16K shell cmd, including log)
• Asynchronous queue-based transfer (one transfer can carry multiple datagrams)
• Zero-copy technology: directly use enet tx/rx buffer to fill and parse ethercat data
• 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(TODO)
• Minimum PDO cyclic time < 40 us (depends on master and slave hardware)
• DC jitter < 3us (depends on master and slave hardware)
• Support multi cyclic time(every slave can use different proportional cyclic time)
• Support ethercat cmd with shell, ref to IgH

The pic shows dc jitter < 3us (hpm6800evk with flash_xip):

Hardware limitations

• Master

  • CPU (Coremark/Mhz > 5.0, cache > 16K, memcpy speed > 100MB/s)
  • ENET must support descriptor dma and iperf with lwip > 90 Mbps
  • Must support High-Precision Timer (jitter < 1us)
  • Must support High-Precision timestamp (ARM DWT/RISC-V MCYCLE)
  • Must support long long print

• Slave

  • Must support DC and system time
  • Must support sdo complete access
  • SII must have sync manager information

Shell cmd

Tool

• esi_parser

Use esi_parser.py to generate slave eeprom information and download eeprom to slave.

python ./esi_parser.py ECAT_CIA402_ESI.xml eeprom.bin eeprom.h

Parsing XML file: ECAT_CIA402_ESI.xml
Parsed XML: Vendor=0x0048504D, Product=0x00000003
Device Name: ECAT_CIA402
Mailbox RX: 0x1000(128)
Mailbox TX: 0x1080(128)
Generating EEPROM data...
✓ Successfully converted 'ECAT_CIA402_ESI.xml' to 'eeprom.bin'
✓ Generated 2048 bytes of EEPROM data
✓ Vendor ID: 0x0048504D
✓ Product Code: 0x00000003
✓ Revision: 0x00000001
✓ Device Name: ECAT_CIA402
✓ Generated C header file: eeprom.h

• eni_parser

Use eni_parser.py to generate CherryECAT slave sync config.

python ./eni_parser.py ECAT_CIA402_ENI.xml sync_config.h

Parsing ENI file: ECAT_CIA402_ENI.xml
Generating C code...
✓ Successfully converted 'ECAT_CIA402_ENI.xml' to 'sync_config.h'
✓ Generated C code for 1 slave(s)
✓ Slave 1:
  - RxPDO 0x1602: 3 entries
  - TxPDO 0x1A02: 3 entries

Support Boards

• HPM6750EVK2/HPM6800EVK/HPM5E00EVK(hybrid internal)
• RT-Thread RZN2L-EtherKit/RA8P1 Titan/RuiQing Pai

Contact

QQ group: 563650597

License

FOE, EOE and backup redundancy features are available in Royalty-Free; other are free to use