Ethercat HAL driver

Hello,

I'm currently developing a (new) Ethercat HAL driver based on IgH's EtherCAT-Master (see www.etherlab.org/de/ethercat/index.php ).

The driver already supports some of the mainly used Beckhoff devices like digital and analouge I/O, encoder input and pulse train output
plus the Stöber MDS5000 series of servo drives (see www.stoeber.de/index_gb.html ). The diver consists of a user space component
for configuration (masters & salves are configured via a xml file) and a RT component for the transfer/transformation of process data.
The structure of the driver makes it easy to add new devices. Distributed Clocks are supported.

I've also done a debian packet of the ethercat master for smooth integration.

I like to contribute but I don't know how. I've found a link 'Becoming a contributor' but unfortunately it's dead.
Should I publish a patch and some docs on the wiki?

Thank You & Kind Regdars

Sascha

yes just post to the wiki would be the best.

sascha wrote:

I like to contribute but I don't know how. I've found a link 'Becoming a contributor' but unfortunately it's dead.

The link was probably meant to lead to: www.linuxcnc.org/index.php/english/compo...coming-a-contributor

Patches in git-format are the preferred medium, as they retain history.

OK, thank you for the answers. I've decided to use github and have done a initial commit:

github.com/sittner/linuxcnc/compare/add-hal-ethercat

There are some cleanups and tests to be done and I will add some documentation
to the wiki. Please feel free to send me suggestions and hints.

Thanks for watching

The driver already supports some of the mainly used Beckhoff devices like digital and analouge I/O, encoder input and pulse train output

May you give me an idea of the price range of this products ?

Thanks you in advance,
VNR

If my memory dosn't lie the price range is like this:

buscoupler + bus terminal ~100 EUR
8ch digital in ~30 EUR
8ch digital out ~35 EUR
2ch 16 bit analog in ~160 EUR
2ch 16 bit analog out ~160 EUR
1ch pulse train (stepper) RS422 out ~160 EUR
2ch encoder input ~180 EUR