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openPOWERLINK is an Open Source Industrial Ethernet stack for communication in hard real-time. It can be operated as both, Managing Node (master) and Controlled Node (slave).
With version 2.0, the source code has been cleanly split into an application-oriented user library and a time-critical stack driver. The latter may be moved to a dedicated communication processor or into a kernel module to deliver enhanced performance while still keeping the API in user space.
A full documentation of the stack is available on the web site:
http://openpowerlink.sourceforge.net
The following page can be used to report a security vulnerability:
https://sourceforge.net/p/openpowerlink/discussion/
This project contains an example Code of an Ethernet Network Driver for the Sercos III network which will communicate with help of the unified communication channel.
This driver connects the UC Channel (CoSeMa API) to e. g. a VxWorks TCP/IP stack.