cherry-embedded/cherryecat

How cherry-embedded/cherryecat works

CherryECAT is an MCU/RTOS EtherCAT master stack. An application configures and starts a master; it scans and configures slaves, then exchanges cyclic PDO datagrams while handling mailbox protocols and distributed-clock synchronization. Shell commands expose master operations, and the repository also provides ESI/ENI conversion tools. The graph combines README-documented capabilities with sampled source and SOURCE INDEX references; some subsystem links are documented rather than verified call paths.

Main entry points: ec_slave.c Slave Scan and Setup · ec_master.c Master Runtime · ec_mailbox.c Mailbox Transfer · ec_datagram.c Datagram Queue

Components 24

Master Control

Master Runtime src/ec_master.c
Shell Commands src/ec_cmd.c
Distributed Clocks src/ec_slave.c

Slave Protocol

Slave Scan and Setup src/ec_slave.c
Slave Information src/ec_slave_table.c
SII Access src/ec_sii.c
Mailbox Transfer src/ec_mailbox.c
CoE src/ec_coe.c
FoE src/ec_foe.c
EoE src/ec_eoe.c
PDO Cycles include/ec_master.h

Ethernet Transport

Datagram Queue src/ec_datagram.c
Network Interface src/ec_netdev.c
Board Ethernet Ports port
PHY Detection src/phy/chry_phy.c

RTOS Platform

RTOS Abstraction include/ec_osal.h
RTOS Adapters osal

Configuration Tools

ESI Parser scripts/esi_parser.py
ENI Parser scripts/eni_parser.py

Other components

RT Application
Shell User
EtherCAT Slaves
ESI Description
ENI Configuration

Connections 25

RT Application → Master Runtime: configures README.md
Shell User → Shell Commands: invokes README.md
Shell Commands → Master Runtime: controls src/ec_cmd.c
Master Runtime → Slave Scan and Setup: scans and configures README.md
Slave Scan and Setup → Datagram Queue: queues register access src/ec_slave.c
Master Runtime → Datagram Queue: queues transfers README.md
Master Runtime → PDO Cycles: runs cyclic exchange README.md
PDO Cycles → Datagram Queue: transfers PDOs README.md
Datagram Queue → Network Interface: sends and receives src/ec_datagram.c
Network Interface → Board Ethernet Ports: uses driver port/netdev_stm32h7.c
Board Ethernet Ports → PHY Detection: configures PHY port/netdev_stm32h7.c
Network Interface → EtherCAT Slaves: communicates README.md
Slave Scan and Setup → Slave Information: updates topology README.md
Slave Scan and Setup → SII Access: reads slave EEPROM README.md
Slave Scan and Setup → Mailbox Transfer: uses mailbox README.md
Mailbox Transfer → CoE: carries CoE README.md
Mailbox Transfer → FoE: carries FoE README.md
Mailbox Transfer → EoE: carries EoE README.md
Slave Scan and Setup → Distributed Clocks: configures clock sync src/ec_slave.c
Master Runtime → RTOS Abstraction: uses RTOS services
RTOS Abstraction → RTOS Adapters: implemented by osal/ec_osal_threadx.c
ESI Description → ESI Parser: parses README.md
ESI Parser → SII Access: generates EEPROM data README.md
ENI Configuration → ENI Parser: parses README.md
ENI Parser → Slave Scan and Setup: generates sync config README.md

More C diagrams: magicalbat/videos · paulneja/linux-on-esp32-s3 · motorolamobilityllc/kernel-mtk · libdriver/mfrc522 · sasdallas/ethereal

Drawn by GitDiagram on September 30, 2026 from the repository's file tree, README and source files. Read as Markdown ·