60 lines
2.6 KiB
Smarty
60 lines
2.6 KiB
Smarty
|
# EtherCrab
|
||
|
|
|
||
|
|
[](https://circleci.com/gh/ethercrab-rs/ethercrab/tree/main)
|
||
|
|
[](https://crates.io/crates/ethercrab)
|
||
|
|
[](https://docs.rs/ethercrab)
|
||
|
|
[](https://matrix.to/#/#ethercrab:matrix.org)
|
||
|
|
|
||
|
|
{{readme}}
|
||
|
|
|
||
|
|
## Community
|
||
|
|
|
||
|
|
[We're on Matrix!](https://matrix.to/#/#ethercrab:matrix.org)
|
||
|
|
|
||
|
|
## Current and future features
|
||
|
|
|
||
|
|
- [x] `async` API
|
||
|
|
- [x] Usable in `no_std` contexts with no allocator required, as long as an `async` executor is available.
|
||
|
|
- [x] Tested with [Embassy](https://embassy.dev)
|
||
|
|
- [ ] Tested with [RTIC](https://rtic.rs/2/book/en/)
|
||
|
|
- [x] Autoconfigure SubDevices from their EEPROM (SII) data during startup
|
||
|
|
- [x] Supports configuration using CoE data
|
||
|
|
- [x] Safely usable in multi-threaded Linux systems with e.g. `smol`, `tokio` or `std::thread` and
|
||
|
|
`block_on`.
|
||
|
|
- [x] Support for `io_uring` on Linux systems to improve performance and latency
|
||
|
|
- [x] Support for SDO read/writes to configure SubDevices
|
||
|
|
- [x] Distributed clocks
|
||
|
|
- [x] Detection of delays between SubDevices in topology
|
||
|
|
- [x] Static drift compensation on startup
|
||
|
|
- [x] Cyclic synchronisation during OP
|
||
|
|
- [x] Basic support for [CiA402](https://www.can-cia.org/can-knowledge/canopen/cia402/)/DS402 drives
|
||
|
|
- [ ] A higher level DS402 API for torque, position and velocity control of common servo drives in
|
||
|
|
a more abstract way.
|
||
|
|
- [ ] Integration with LinuxCNC as a HAL component using
|
||
|
|
[the `linuxcnc-hal` crate](https://github.com/jamwaffles/linuxcnc-hal-rs).
|
||
|
|
- [ ] Load SubDevice configurations from ESI XML files
|
||
|
|
|
||
|
|
## Sponsors
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
Thank you to everyone who has donated test equipment, time or money to the EtherCrab project! Would
|
||
|
|
you like to be in this list? Then please consider
|
||
|
|
[becoming a Github sponsor](https://github.com/sponsors/jamwaffles)!
|
||
|
|
|
||
|
|
- [@nealsjoe](https://twitter.com/nealsjoe) generously donated an EK1100 with several IO modules for
|
||
|
|
testing with.
|
||
|
|
- [Trisk Bio](https://triskbio.com/) generously donated some additional Beckhoff modules and some
|
||
|
|
optical ethernet gear.
|
||
|
|
- Smark sent a $200 one time donation. Thank you!
|
||
|
|
|
||
|
|
## License
|
||
|
|
|
||
|
|
Licensed under either of
|
||
|
|
|
||
|
|
- Apache License, Version 2.0 ([LICENSE-APACHE](LICENSE-APACHE) or
|
||
|
|
http://www.apache.org/licenses/LICENSE-2.0)
|
||
|
|
- MIT license ([LICENSE-MIT](LICENSE-MIT) or http://opensource.org/licenses/MIT)
|
||
|
|
|
||
|
|
at your option.
|