This is the integration manual of the EtherCAT Slave stack on Sitara AM243x Platform. The EtherCAT stack is executed by a dedicated R5F Core running FreeRTOS.
Features added by KUNBUS on top of Beckhoff stack for EtherCAT:
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CiA402 and Modular Device profile
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ESI file parser
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dynamic reconfiguration of object dictionary
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scalable architecture to support integration of further protocols (e.g. PROFINET Master, PROFIBUS, CC-Link etc.) and other TI silicon