RK ALL EtherCAT
Contents
- 1Preface
- 2Install
- 3EtherCAT IgH Software Environment
- 4EtherCAT IgH Test
- 5Application Development
- 6Performance Indicators and test
Preface
IgH EtherCAT is an open-source EtherCAT master station program running on the Linux system. The IgH EtherCAT master station communicates with the EtherCAT master module by constructing a Linux character device, the application program achieves this communication through accessing the character device. The IgH EtherCAT development package comes with EtherCAT tools. These tools provide various commands that can run in the Linux user layer, enabling direct access and configuration of slave stations, such as setting slave station addresses, displaying bus configuration, displaying PDO data, reading and writing SDO parameters, etc.
Install
The customer downloads the customized version of the image (including EtherCAT)
EtherCAT IgH Software Environment
EtherCAT: Kernel space, User space, EtherCAT application.
| Layer | built-in | purpose |
|---|---|---|
| KernelSpace | Y | Provide a real-time driven environment. RT-patch and ethercat driver |
| UserSpace | Y | ethercat, libethercat.so |
| Applicaton | N | Customer Application |
EtherCAT IgH Test
Using the "ethercat --help" command allows you to view the EtherCAT IgH tools. These tools can provide various information about the slaves connected to the master station, which can be helpful for writing the master station application programs. The following introduces the usage of several commonly used commands and parameters. The [] brackets indicate mandatory parameters, while the <> brackets represent optional parameters.
- Set alias address
ethercat alias -p 0 0
- Set alias address (The following example represents changing the alias of location 0 to 1)
ethercat alias -a 0 1
- Output PDO information in C language format
ethercat cstruct
- Output the identified slave stations
ethercat slaves 0 0(别名)):0（位置） PREOP + MADHT1505BA1
- Output PDO information
ethercat pdos
- Official document
https://docs.etherlab.org/ethercat/1.5/doxygen/index.html
Application Development
- Power on the connection between the master station and the slave station of the board. 2. Check the slave device and verify the master-slave communication. 3. Reference for Application Development Flowchart.
Performance Indicators and test
During a one-millisecond period, the performance data of each supporting platform is as follows:
| SoC | Period | Jitter delay | Remark |
|---|---|---|---|
| RK3568 | 1ms | 50us | Not supported |
| RK3576 | 1ms | 30us | Not supported |
| RK3588 | 1ms | 15us | Supported |