Latest release

0.1.0beta0

Maintainer

andrewstanfordjason

Description

Powerlink

scope

Example

keywords

Powerlink, Industrial Comms, Ethernet

boards

XA-SKC-L16, XA-SK-GPIO, XA-SK-E100

• Jitter under 70ns
• Isochronous Controlled Node
• Data Link Layer running entirely in software
• CN Cycle State Machine

• Asynchronous SDO Sequence Layer

  • SDO history buffer of arbitrary size

• Asynchronous SDO Command Layer

  • Command: Write by Index
  • Command: Read by Index

• Process Data Object (PDO) Processing
• NMT State Machine
• NMT State Command Services

• Event based application interface
• Optional NMT commands
• Optional SDO Commands
• Asychronous only support
• SDO over PDO
• IPv4 support / Basic ethernet mode
• SDO over UDP
• CANopen access and range checking
• Phy state reporting
• MII CRC fail reporting
• Multiplexed Slot Timing
• Error Handling Table
• PDO Error Handling
• Configuration Management
• NMT Info Services
• Diagnostics

• The demo uses polling. This means that when the application wants to know if a PDO has changed then it has to poll the CANopen object that represents it.
• Cross process communication have to go through the Object Dictionary (OD). This if implemented fully would cause a race condition.
• The over head of accesses to the OD will limit the performace for large PDOs.
• Hub relay latency is 1.1us
• The DLL and NMT are seperate logical cores, they communicate their state through a shared memory.

For all support issues please contact your FAE

• sc_util (git://github.com/xcore/sc_util)
• sc_slicekit_support (git@github.com:xcore/sc_slicekit_support)
• sc_otp (git@github.com:xcore/sc_otp)
• sc_ethernet (https://github.com/xcore/sc_ethernet.git)