This crate provides a no_std and no alloc API for EtherCAT master devices.
WIP
WIP
It is difficult to implement and test all features of an EtherCAT master. This section describes the features that are or will be supported and those that are not intended to be supported.
Please refer to the ETG.1500 for more information on the features listed below.
legend:
🔳 Supported.
⬜ Not supported but will be addressed.
🚫 No plans to support.
Basic Features
- 🔳 Service Commands
- 🚫 IRQ field in datagram
- 🔳 Slave with Device Emulation
- 🔳 EtherCAT State Machine
- 🚫 VLAN
- 🔳 EtherCAT Frame Types
- 🚫 UDP Frame Types
Error Detections
- 🔳 Checking Working Counter
- 🔳 Checking AL Status Code and EtherCAT State
- ⬜ Setting SM Watchdog
- 🚫 Checking PDO State
- ⬜ Checking Lost Slaves
- 🔳 Checking Lost Frames
- 🔳 Checking Error Counter in Slaves
- 🚫 Checking Sync Error Flag(0x1C33:20)
Process Data Exchenge
- ⬜ Cyclic PDO
- 🚫 Cyclic PDO using LRD and LWR
- 🚫 Multiple Tasks
- 🚫 Frame repetition
Network Configuration
- ⬜ Online SII Scanning
- ⬜ Reading ENI
- ⬜ Compare Network configuration
- 🚫 Explicit Device Identification
- ⬜ Station Alias Addressing
- 🔳 Reading SII(EEPROM)
- ⬜ Writing SII(EEPROM)
Mailbox Features
- 🔳 Mailbox
- 🔳 Mailbox Resilient Layer
- 🚫 Multiple Mailbox Channels
- ⬜ Mailbox Polling
CoE
- 🔳 CoE
- 🔳 SDO Up/Donwload
- ⬜ Segmented Transfer
- ⬜ Complete Access
- ⬜ SDO info service
- ⬜ Emergency Message
EoE
- 🚫 EoE
SoE
- 🚫 SoE
AoE
- 🚫 AoE
FoE
- ⬜ FoE
- ⬜ Boot State
Synchronization with Distributed Clocks
- ⬜ DC Support
- ⬜ Continous Propagation Delay compemsation
- ⬜ Sync Window monitoring
Slave-to-Slave Communication
- ⬜ via Master
Master Information
- 🚫 Master Object Dictionary
FP Cable Redundancy
- 🚫 Cable redundancy
- 🚫 Hot Connect
Other Slave Options
- 🚫 UseLrdLwr
- ⬜ SM:OpOnly
- 🚫 SeparateSu
- 🚫 SeparateFrame
- 🚫 FrameRepeatSupport
- 🚫 AssignToPdi
- ⬜ InitCmd
- 🚫 UnknownFRMW
- 🚫 Unknown64Bit
- 🚫 Reg0108
- 🚫 Reg0400
- 🚫 Reg0410
- 🚫 Reg0420
- 🚫 StateMachine:Behavior
Licensed under either of
at your option.