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:
SOFTWARE:
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
Raspberry pi 0,1 + Xenomai 3: https://github.com/thanhtam-h/soem-w5500-rpi/tree/rpi01-xenomai-3
Raspberry pi 2,3 + Xenomai 2: https://github.com/thanhtam-h/soem-w5500-rpi/tree/rpi23-xenomai-2
Raspberry pi 2,3 + Xenomai 3: https://github.com/thanhtam-h/soem-w5500-rpi/tree/rpi23-xenomai-3
Raspberry pi 2,3 + Preempt-rt: https://github.com/thanhtam-h/soem-w5500-rpi/tree/rpi23-rt
Raspberry pi 4 + Preempt-rt: https://github.com/thanhtam-h/soem-w5500-rpi/tree/rpi4-rt
Raspberry pi 4 + Xenomai 3: https://github.com/thanhtam-h/soem-w5500-rpi/tree/rpi4-xenomai-3
TEST:
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