Opensource realtime EtherCAT master for Raspberry pi
If you are looking for a hard-realtime EtherCAT Master solution for Raspberry pi, this is the only place you have it. All guides are available at http://www.simplerobot.net/
HARDWARE:
- Raspberry pi (rpi) any version
- Wiznet W5500 Ethernet chip with SPI interface
SOFTWARE:
- Raspbian or Raspbian lite OS (https://www.raspberrypi.org/downloads/)
- Patched kernel with xenomai 2.x or 3.x, or preempt-rt
- Simple Open Source EtherCAT Master (SOEM) (https://openethercatsociety.github.io/)
- SOEM is patched to support xenomai, preempt-rt
- Realtime compatible W5500 driver for SOEM on rpi
BUILD:
DO NOT use master branch, select a working branch according to your raspberry pi and kernel version (or xenomai version).i.e.:
-
Raspberry pi 0,1 + Xenomai 2: https://github.com/thanhtam-h/soem-w5500-rpi/tree/rpi01-xenomai-2
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Raspberry pi 0,1 + Xenomai 3: https://github.com/thanhtam-h/soem-w5500-rpi/tree/rpi01-xenomai-3
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Raspberry pi 2,3 + Xenomai 2: https://github.com/thanhtam-h/soem-w5500-rpi/tree/rpi23-xenomai-2
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Raspberry pi 2,3 + Xenomai 3: https://github.com/thanhtam-h/soem-w5500-rpi/tree/rpi23-xenomai-3
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Raspberry pi 2,3 + Preempt-rt: https://github.com/thanhtam-h/soem-w5500-rpi/tree/rpi23-rt
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Raspberry pi 4 + Preempt-rt: https://github.com/thanhtam-h/soem-w5500-rpi/tree/rpi4-rt
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Raspberry pi 4 + Xenomai 3: https://github.com/thanhtam-h/soem-w5500-rpi/tree/rpi4-xenomai-3
TEST:
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Check information of all slaves on bus:
cd test/slaveInfo/ sudo ./slaveinfo wiz -
Check pdo mapping of all slaves on bus:
cd test/slaveInfo/ sudo ./slaveinfo wiz -map