NXP对于Ethercat部署与支持（主站篇IGH与SOEM）

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作者:张凌001

简介

EtherCAT的主站开发是基于EtherCAT 控制系统的开发中非常重要的环节。目前常见开源的主站代码为的RT-LAB开发的SOEM (Simple OpenSource EtherCAT Master)和EtherLab的the IgH EtherCAT® Master。使用起来SOEM的简单一些，而the IgH EtherCAT® Master更复杂一些，但对EtherCAT的实现更为完整。

异同

具体比较如下表：

主站	SOME(Simple OpenSource EtherCAT Master)	IgH EtherCAT Master
版本	1.3.0	1.5.2
更新日期	2013-02-26	2013-02-12
发布公司	RT-LAB	EtherLab
官方网站	ethercat.rt-labs.com	www.etherlab.org
支持的操作系统	Linux,Windows	linux
支持RT内核	RTAI, Xenomai	RTAI, Xenomai, RT-Preempt
支持的CPU	Freescale i.MX53、 Blackfin 5xx、 Blackfin 6xx 、Intel	支持Linux内核的所有CPU
支持的网卡	-	8139too - RealTek 8139C (or compatible) Fast-Ethernet chipsets. •e1000 - Intel PRO/1000 Gigabit-Ethernet chipsets (PCI). e100 - Intel PRO/100 Fast-Ethernet chipsets.•r8169 - RealTek 8169/8168/8101 Gigabit-Ethernet chipsets.•e1000e - Intel PRO/1000 Gigabit-Ethernet chipsets (PCI Express).
CANOpen over EtherCAT (CoE)	√	√
Vendor over EtherCAT (VoE)	√	√
Distributed clocks	√	-
SERCOS over EtherCAT (SoE)	√	√
Ethernet over EtherCAT (EoE)	×	√
File Access over EtherCAT (FoE)	×	√
Safety over EtherCAT (FSoE)	×	×

NXP对于IGH主站的支持：

NXP目前对于IGH主站有一套源码级的开源支持，而且他们把这种需要实时处理的总线式的协议和接口，与正常功能开发的BSP软件包分开来，单独命名为 Real-Time Edge Software，关于它的描述，具体如下：

The real-time edge software enables real-time applications for the i.MX and Layerscape products and can be easily integrated with the Yocto SDKs for these products. Real-time edge software enables real-time capabilities via support for Preempt-RT for low latency applications, baremetal framework and support for real-time operating system (RTOS) on the Arm®-Cortex®-A or Cortex®-M cores. Real-time edge software also supports real-time protocols and stacks for IEEE1588 PTP network synchronization, time sensitive networking (real-time ethernet), EtherCAT leader, CANOpen and OPC-UA.

Complete with reference software a system-validated board support package (BSP), NXP provides you with the tools to test and maximize the performance of the applications you develop.

也就是说它不仅仅是支持ethercat，还有其他更丰富的实时总线协议等，具体如下：