EtherCAT Rockchip Platform Support
Rockchip Platform Support
8.1 Supported Platforms
The following platforms are supported:
| SoC | Reference kernel | IgH master | Rockchip real-time stmmac | TSN extension |
|---|---|---|---|---|
| RK3588 | Linux 5.10 | Supported | Supported | Supported |
| RK3576 | Linux 6.1 | Supported | Supported | Supported |
| RK3568 | Linux 5.10 | Supported | Supported | Not supported |
| RK3506 | Linux 6.1 | Supported | Supported | Not supported |
Whether a particular development board exposes a compatible GMAC, which PHY it uses, its device-tree configuration, and whether its SDK contains the required patches must still be confirmed for each product.
8.2 Rockchip Software Architecture
The Rockchip solution consists of four layers: the real-time kernel, master and drivers, user space, and the application. The relevant files are listed below:
| Part | File | Function |
|---|---|---|
| Real-time kernel | PREEMPT_RT kernel | Reduces scheduling and interrupt latency |
| IgH master | ec_master.ko | EtherCAT master core |
| Platform network driver | ec_stmmac.ko | Rockchip stmmac driver adapted for GMAC real-time communication |
| Dependency modules | phylink.ko, pcs-xpcs.ko | Provide PHY Link, PCS/XPCS, and other network interface support |
| User space | ethercat, libethercat.so | Debugging tools and application API |
| Application | SDK demo or product application | Servo, I/O, and application control |
Product application / ethercat tool
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libethercat.so
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ec_master.ko
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ec_stmmac.ko
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Rockchip GMAC / PHY → EtherCAT slavesCompared with the generic ec_generic, ec_stmmac directly adapts the platform GMAC data path and is suitable for scenarios with stricter cycle and jitter requirements. The two drivers cannot occupy the same physical interface simultaneously.
8.3 SDK File Location
Source directory:
SDK/external/ethercat_igh