Notes from installation of ethercat on Raspberry Pi 4

RK3399现在可以安装linuxcnc了，并且ethercat也可以使用了。我用的内核是4.4-rt176和4.19.rt87。firefly的平台。系统是debian10
这里要感谢rodw.

For rodw:
Thanks a lot for your etherlab repositories.And I have a question, that generic device driver has better delay than normal TCP/IP protocol. If I use the standard ethercat netword card such as e1000, How can add the specific module base on your projects.Thanks again.

You have a Intel NIC which is not as likely to have real time communication delays.

It is not unexpected that you record better performance. . The ethercat protocol is much more efficient than normal TCP/IP comms, I don't think you will need to make any special meaures

The video looks great! Can you let me know please what components you use in set-up: motors, drivers, motion cards, etc. I have servo motors with Ethercat. Can you recommend a motion card that may work?
Thank you!

Sorry, newbie, but there is one question from the experience of forum members, because time has passed, and experience is power.
Is the Raspberry Pi4 network controller with Ethercat stable?
If so, on which versions of Linuxcnc and on which Linux kernel?
Thank you all for your responses and feedback.

I think it's supposed to be stable; the Etherlab folks have a specific driver for it, but I don't have any specific details on using it handy.

Hi, sorry for asking too many questions. In the linuxcnc downloads web page,there is this note";“linuxcnc-uspace” will also run on a standard Linux kernel for use as a simulator, but it should not be used to control hardware."
Does it mean that in order to actually run a machine, I have to use the “linuxcnc” with specific RTAI kernel?
Please let me know which package I have to download! Thank You!