Paper Title
Porting Open Source Ethercat Master Software Stack To Zedboard Running Freertos

Abstract
Real-Time Ethernet was developed to address the numerous shortcomings of conventional fieldbus standards. EtherCAT is the most widely applied Real-Time Ethernet protocol, due to its real-time operability, synchronization performance, and high bandwidth utilization. However, most existing open-source EtherCAT master software stacks are on the Linux platform, and therefore require specific extensions to enable the precision scheduling of periodic real-time tasks. Implementation of the EtherCAT embedded master in this paper is achieved by modifying interfaces between SOEM software stack and FreeRTOS RTOS and between FreeRTOS RTOS and ZedBoard hardware. We also discuss various issues encountered in the control and synchronization of multiple high-precision EtherCAT slave motors. The implemented EtherCAT embedded master enables the scheduling of periodic real-time tasks during every 125μs and reduce maximum scheduling jitter to just 1.622μs. Keywords - Real-Time Ethernet, EtherCAT, Embedded, RTOS.