Simple Open EtherCAT Slave or SOES
For a tutorial on SOEM See Tutorial
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
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
Source repository: [https://github.com/OpenEtherCATsociety/SOES]
Continuous integration: [https://travis-ci.com/github/OpenEtherCATsociety/SOES]
Ethercat Master stack: [https://rt-labs.com/docs/SOES]
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.