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soem-w5500-rpi

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Realtime ethercat master for Raspberry pi

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최종 버전 다운로드 (.zip)

- libwiznet_drv.a
- README.md
- PiCAT-0.2.3.pdf
- PiCAT-0.2.3.schdoc
- W5500Cape_R0.2.3_rpi0_Gerber_2.zip
- libwiznet_drv.a
- Makefile
- osal.c
- osal.h
- Makefile
- nicdrv.c
- nicdrv.h
- oshw.c
- oshw.h
- wiznet_drv.h
- ethercatbase.c
- ethercatbase.h
- ethercatcoe.c
- ethercatcoe.h
- ethercatconfig.c
- ethercatconfig.h
- ethercatconfiglist.h
- ethercatdc.c
- ethercatdc.h
- ethercatfoe.c
- ethercatfoe.h
- ethercatmain.c
- ethercatmain.h
- ethercatprint.c
- ethercatprint.h
- ethercatsoe.c
- ethercatsoe.h
- ethercattype.h
- Makefile
- - ecat_dc.c
  - ecat_dc.h
  - main.c
  - Makefile
  - pdo_def.h
  - servo.c
  - servo_def.h
- - Makefile
  - slaveinfo.c
- - main.c
  - Makefile
  - pdo_def.h
  - XMC48_ECAT_D4.hex
- - ecat_dc.c
  - ecat_dc.h
  - main.c
  - Makefile
  - pdo_def.h
build.sh
clean-all.sh
LICENSE
README.md

// repository documentation

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# soem-w5500-rpi
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
+ 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