SOES v3.0.0

Simple Open EtherCAT Slave or SOES

========
Start
========

For a tutorial on SOEM See `Tutorial <tutorial.html>`_


Overview
--------

SOES is an EtherCAT slave stack written in C. It is production-ready, and is also useful for learning about Ethercat technology.
All users are invited to study the source to get an understanding how an EtherCAT slave function

Features as of 1.0.0 :


+ Address offset based HAL for easy ESC read/write access via any
  interface
+ Mailbox with data link layer
+ CoE
+ Object dictionary
+ SDO read and write for all sizes including segmented transfers
+ Easy portable C-code suited for embedded applications
+ Fixed PDO mapping
+ FoE with bootstrap template
+ Support for Little and Big endian targets.
+ Polling for interrupts

Web Resources
---------------
+ Source repository: `[https://github.com/OpenEtherCATsociety/SOES] <https://github.com/OpenEtherCATsociety/SOES>`_
+ Continuous integration: `[https://travis-ci.com/github/OpenEtherCATsociety/SOES] <https://travis-ci.com/github/OpenEtherCATsociety/SOES>`_
+ Documentation: `[https://rt-labs.com/docs/SOES] <https://rt-labs.com/docs/SOES>`_
+ Releases: `[https://github.com/OpenEtherCATsociety/SOES/releases] <https://github.com/OpenEtherCATsociety/SOES/releases>`_
+ RT-Labs: `[https://rt-labs.com/products/ethercat/] <https://rt-labs.com/products/ethercat/>`_
+ Ethercat Master stack: `[https://rt-labs.com/docs/SOES] <https://rt-labs.com/docs/SOES>`_

Legal notice
------------

SOES Simple Open EtherCAT Slave
Copyright (C) 2007-2013 Arthur Ketels
Copyright (C) 2012-2013 rt-labs
SOES is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License version 2 as published by
the Free Software Foundation.

SOES is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
for more details.

As a special exception, if other files instantiate templates or use
macros or inline functions from this file, or you compile this file
and link it with other works to produce a work based on this file,
this file does not by itself cause the resulting work to be covered by
the GNU General Public License. However the source code for this file
must still be made available in accordance with section (3) of the GNU
General Public License.

This exception does not invalidate any other reasons why a work based
on this file might be covered by the GNU General Public License.

The EtherCAT Technology, the trade name and logo "EtherCAT" are the
intellectual property of, and protected by Beckhoff Automation GmbH.