NXP对于Ethercat部署与支持(主站篇IGH与SOEM)

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:

 

 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。

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