This is the integration manual of the EtherCAT Slave stack on Sitara AM64x Platform. The EtherCAT stack is executed by a dedicated R5F Core running FreeRTOS.

Features added on top of Beckhoff stack for EtherCAT :

• CiA402 and Modular Device profile
• ESI file parser
• dynamic reconfiguration of object dictionary
• scalable architecture to support integration of further protocols (e.g. PROFINET Master, PROFIBUS, CC-Link etc.) and other TI silicon