I have read this useful pdf called "EtherCAT® Interface for High-Performance C2000™ MCU". I think this solution offers an EtherCAT Slave Controller case. What about the EtherCAT Master? Could I perform an EtherCAT Master functionality with C2000 MCUs? In the pdf, a third party EtherCAT Master module is used. If I am not wrong, an EtherCAT Master require an Real-time Operating System? How to run an OS on the C2000? There is also an EtherCAT interface on the some Sitara processors. I saw a few reference designs about the EtherCAT Master functionality on the Sitara. To sum up, we can perform an EtherCAT Master with Sitara and EtherCAT Slave with C2000 MCUs. Am I wrong? It would be great using only C2000 for both Master and Slave functionalities as changing some SW settings.