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