简介
EtherCAT的主站开发是基于EtherCAT 控制系统的开发中非常重要的环节。目前常见开源的主站代码为的RT-LAB开发的SOEM (Simple OpenSource EtherCAT Master)和EtherLab的the IgH EtherCAT® Master。使用起来SOEM的简单一些,而the IgH EtherCAT® Master更复杂一些,但对EtherCAT的实现更为完整。
异同
具体比较如下表:
主站 | SOME(Simple OpenSource EtherCAT Master) | IgH EtherCAT Master |
---|---|---|
版本 | 1.3.0 | 1.5.2 |
更新日期 | 2013-02-26 | 2013-02-12 |
发布公司 | RT-LAB | EtherLab |
官方网站 | ethercat.rt-labs.com | www.etherlab.org |
支持的操作系统 | Linux,Windows | linux |
支持RT内核 | RTAI, Xenomai | RTAI, Xenomai, RT-Preempt |
支持的CPU | Freescale i.MX53、 Blackfin 5xx、 Blackfin 6xx 、Intel | 支持Linux内核的所有CPU |
支持的网卡 | - | 8139too - RealTek 8139C (or compatible) Fast-Ethernet chipsets. •e1000 - Intel PRO/1000 Gigabit-Ethernet chipsets (PCI). e100 - Intel PRO/100 Fast-Ethernet chipsets.•r8169 - RealTek 8169/8168/8101 Gigabit-Ethernet chipsets.•e1000e - Intel PRO/1000 Gigabit-Ethernet chipsets (PCI Express). |
CANOpen over EtherCAT (CoE) | √ | √ |
Vendor over EtherCAT (VoE) | √ | √ |
Distributed clocks | √ | - |
SERCOS over EtherCAT (SoE) | √ | √ |
Ethernet over EtherCAT (EoE) | × | √ |
File Access over EtherCAT (FoE) | × | √ |
Safety over EtherCAT (FSoE) | × | × |
NXP对于IGH主站的支持:
NXP目前对于IGH主站有一套源码级的开源支持,而且他们把这种需要实时处理的总线式的协议和接口,与正常功能开发的BSP软件包分开来,单独命名为 Real-Time Edge Software,关于它的描述,具体如下:
The real-time edge software enables real-time applications for the i.MX and Layerscape products and can be easily integrated with the Yocto SDKs for these products. Real-time edge software enables real-time capabilities via support for Preempt-RT for low latency applications, baremetal framework and support for real-time operating system (RTOS) on the Arm®-Cortex®-A or Cortex®-M cores. Real-time edge software also supports real-time protocols and stacks for IEEE1588 PTP network synchronization, time sensitive networking (real-time ethernet), EtherCAT leader, CANOpen and OPC-UA.
Complete with reference software a system-validated board support package (BSP), NXP provides you with the tools to test and maximize the performance of the applications you develop.
也就是说它不仅仅是支持ethercat,还有其他更丰富的实时总线协议等,具体如下:
文章来源地址https://www.toymoban.com/news/detail-609541.html
该软件包具体支持的器件型号如下
官方链接:Real-Time Edge Software | NXP Semiconductors
NXP对于SOEM的支持:
NXP的MCU对于SOEM也是支持的,我们在官网上选择好对应板卡的SDK包后(不仅仅是RT1060哦),如下图所示:
下载完成后,打开文件夹:
上面的SOEM就是我们需要的Ethercat主站了。然后就可以烧录到我们的板卡进行测试。
技术沟通交流QQ:1994531700文章来源:https://www.toymoban.com/news/detail-609541.html
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