https://github.com/kj4tmp/gatorcat
An EtherCAT MainDevice Written in Zig
https://github.com/kj4tmp/gatorcat
ethercat zig zig-package
Last synced: 3 months ago
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An EtherCAT MainDevice Written in Zig
- Host: GitHub
- URL: https://github.com/kj4tmp/gatorcat
- Owner: kj4tmp
- License: mit
- Created: 2024-06-24T02:49:33.000Z (10 months ago)
- Default Branch: main
- Last Pushed: 2025-02-06T05:25:08.000Z (3 months ago)
- Last Synced: 2025-02-06T05:29:48.276Z (3 months ago)
- Topics: ethercat, zig, zig-package
- Language: Zig
- Homepage:
- Size: 356 KB
- Stars: 13
- Watchers: 1
- Forks: 2
- Open Issues: 0
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Metadata Files:
- Readme: README.md
- Funding: .github/FUNDING.yml
- License: LICENSE
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README
# GatorCAT
GatorCAT is an EtherCAT maindevice written for the zig programming language.
> [!WARNING]
> GatorCAT is **alpha** software. Using it today means participating in its development.
## Documentation
Examples can be found in [examples](examples/). The examples can be built using `zig build examples`.
Documentation can be found in [doc](doc/README.md).
## Status
### Notably Working Features
- [x] automatic configuration to reach OP for most subdevices, via SII and CoE
- [x] verifcation of the network contents against an ethercat network information struct (ENI)
- [x] can manipulate process data
- [x] CoE startup parameters
- [x] CLI for scanning networks and getting information about subdevices
- [x] multi-OS support (Linux and Windows)
- [x] generate starting point for the network configuration (ENI) using the CLI (scan)
### Notably Missing Features
- [ ] distributed clocks
- [ ] Ethernet Over EtherCAT (EoE), also AoE, FoE, SoE, VoE
- [ ] user configurable processing of CoE emergency messages
- [ ] mapping the mailbox status into the process data
- [ ] async / event loop frames
- [ ] multi-threading friendly API
- [ ] linux XDP
- [ ] mac-os, embedded support
- [ ] allocation-free API
- [ ] cable redundancy
- [ ] EtherCAT Network Information(ENI) XML Parsing
- [ ] Segmented SDO transfer
- [ ] EEPROM write access
- [ ] Embedded friendly API / timers
- [ ] Network diagnosis in the CLI (CRC counters etc.)
### In work
- [ ] generate process image packed struct from ENI
- [ ] generate recursive data structure (like zon.Value) from ENI so ENI can change at runtime
- [ ] validate more than just bit counts per subdevice match the ENI
- [ ] refactor the whole frame queue implementation
- [ ] robust state machine for network topology change detection etc
- [ ] no-config docker deployment with valkey integration
## Sponsors
List updated monthly.
- (empty)
Please consider [❤️ Sponsoring](https://github.com/sponsors/kj4tmp) if you depend on this project or just want to see it succeed.