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OpenEtherCATsociety / SOES

Simple Open Source EtherCAT Slave
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FC1100 support? #129

Closed jarmeister99 closed 1 year ago

jarmeister99 commented 1 year ago

Hello, I am trying to implement a Linux-based EtherCAT slave using the Beckhoff FC1100 PCIE EtherCAT Controller. This library supports the ET1100 which is on the FC1100, and I was wondering if this library provides easy support for the FC1100 as well?

nakarlsson commented 1 year ago

I guess so when it comes to ESC communication, but don't you need a PCIE drive to be able to talk to the ESC? On windows it is provided along the FC1100, don't know if they got a Linux driver?

jarmeister99 commented 1 year ago

I'm not sure if there is a FC1100 Linux driver. Would I have to create my own FC1100 Linux driver? And how would SOES be integrated in this process? Thank you for the reply.

nakarlsson commented 1 year ago

If Beckhoff doesn't provide one you would need to write your own. I don't got the details on this FC1100 device, but given your description I assume it would act as any PCIE endpoint and to support an ET1100 it would map the ET1100 address space to the PCIE address space for the Linux host/RootComplex to read. The PCIE MSI(-X) interrupts would should support the PDI IRQ and SYNC0/SYNC1 IRQ.

Given the above, SOES would be integrated in the same way as with any other ESC, SOES simply would need an esc_hw layer to do esc_read/esc_write of the PCIE address space that would represent the ESC address space. I assume one would like the PCIE driver to expose a user space API that SOES could be implemented towards?

jarmeister99 commented 1 year ago

Thank you so much, this is the route I took. I appreciate all the advice.