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Linux/AM5728: EtherCAT Master on AM572x with RT-Linux

Part Number: AM5728

Tool/software: Linux

Hello,

I have searched the following materials provided by TI or acontis about EtherCAT Master on AM572x.

  1. http://www.ti.com/lit/ug/tidubz1b/tidubz1b.pdf 
  2. https://training.ti.com/ethercat-master-on-sitara-processors-introduction?cu=1128529 
  3. http://software.acontis.com/EC-Master/2.9/EC-Master_V2.9-ClassB.pdf 

I have downloaded the package of EC-Master for Linux from acontis website, but I have no idea how to start. The material #1 briefly teaches how to run EtherCAT on AM572x; however, it uses SYS/BIOS instead of RT-Linux. I am wondering if there were other documentation talking about running EtherCAT Master on AM572x with RT-Linux? 

Regards,
Hungwei