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CherryECAT
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
- PHY driver internal, scan and configure PHY automatically
- 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 PDO transfer with single domain or multi domain（single domain：all slaves share one LRW datagram，multi domain：each slave has one LRW datagram）
- 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 backup redundancy(TODO)
- 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
- Must support LRW
- SII must have sync manager information
Shell cmd
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
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
- STM32H7
QQ group: 563650597
License
FOE, EOE and backup redundancy features are available in Royalty-Free; other are free to use
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