EPBFCat – an EtherCAT master using EBPF and XDP

EBPFCat is an EtherCAT master written entirely in Python, that uses EPBF and XDP to achieve real-time response times. As a corollary, it contains a Python based EBPF code generator.

• A Python-base EBPF code generator
  • Getting started
  • Maps
    • Array Maps
    • Hash Maps
  • Accessing the packet
  • Programming
    • Expressions
    • Local variables
    • Conditional statements
    • No loops
    • Fixed-point arithmetic
  • Reference Documentation
    • EBPF
      • EBPF.assemble()
      • EBPF.call()
      • EBPF.exit()
      • EBPF.get_fd()
      • EBPF.jump()
      • EBPF.jumpIf()
      • EBPF.load()
      • EBPF.pin_maps()
      • EBPF.program()
    • LocalVar
    • ktime
      • ktime.calculate()
    • prandom
      • prandom.calculate()
    • PacketVar
    • XDP
      • XDP.minimumPacketSize
      • XDP.defaultExitCode
      • XDP.packetSize
      • XDP.attach()
      • XDP.detach()
      • XDP.program()
      • XDP.run()
    • XDPExitCode
    • XDPFlags
    • ArrayMap
      • ArrayMap.init()
• The EtherCAT master
  • Getting started
  • Writing a device
  • Three methods of control
  • Reference Documentation
    • A collection of devices
    • AnalogInput
    • AnalogOutput
    • Counter
    • DigitalInput
    • DigitalOutput
    • Dummy
    • Motor
    • PWM
    • RandomDropper
    • Low-level access to EtherCAT
    • CoECmd
    • ECCmd
    • ECDataType
    • EtherCat
      • EtherCat.connect()
      • EtherCat.connection_made()
      • EtherCat.count()
      • EtherCat.datagram_received()
      • EtherCat.find_free_address()
      • EtherCat.receive_index()
      • EtherCat.roundtrip()
      • EtherCat.roundtrip_packet()
      • EtherCat.send_packet()
      • EtherCat.sendloop()
    • EtherCatError
    • MBXType
    • ODCmd
    • Packet
      • Packet.append()
      • Packet.assemble()
      • Packet.full()
    • Terminal
      • Terminal.eeprom_write_one()
      • Terminal.get_error()
      • Terminal.get_state()
      • Terminal.initialize()
      • Terminal.mbx_recv()
      • Terminal.mbx_send()
      • Terminal.read()
      • Terminal.read_eeprom()
      • Terminal.set_state()
      • Terminal.to_operational()
      • Terminal.write()