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A device which includes a central processing unit (CPU), memory, and (generally) an assortment of I/O peripherals (UART, ADC, DAC, general-purpose I/O, I2C, etc.) in a tightly-coupled standalone package.
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vote
Microcontroller as a slave
You can install Simple Open EtherCAT Slave or SOES
on a microcontroller. SOES supports the Distributed Clock mode. … To estimate the effort of installing the SOES on a microcontroller,
have a look at https://bitbucket.org/utwente_bss/soes_arm/wiki/Home . …